From 3f74cbafec1b3c7b7539cdd6ef0a249b7357f7f0 Mon Sep 17 00:00:00 2001 From: KevinQu7 Date: Sun, 23 Mar 2025 21:50:39 +0100 Subject: [PATCH 1/9] marigold multimodal v1.1 refactoring --- .gitignore | 6 + LICENSE-MODEL.txt | 69 + README.md | 403 +- config/dataset/data_diode_all.yaml | 4 - config/dataset/data_eth3d.yaml | 4 - config/dataset/data_hypersim_train.yaml | 4 - config/dataset/data_hypersim_val.yaml | 4 - config/dataset/data_kitti_eigen_test.yaml | 6 - config/dataset/data_kitti_val.yaml | 6 - config/dataset/data_nyu_test.yaml | 5 - config/dataset/data_nyu_train.yaml | 5 - config/dataset/data_scannet_val.yaml | 4 - config/dataset/data_vkitti_train.yaml | 6 - config/dataset/data_vkitti_val.yaml | 6 - config/dataset/dataset_train.yaml | 18 - config/dataset/dataset_val.yaml | 45 - config/dataset/dataset_vis.yaml | 9 - config/dataset_depth/data_diode_all.yaml | 4 + config/dataset_depth/data_eth3d.yaml | 4 + config/dataset_depth/data_hypersim_train.yaml | 4 + config/dataset_depth/data_hypersim_val.yaml | 4 + .../dataset_depth/data_kitti_eigen_test.yaml | 6 + config/dataset_depth/data_kitti_val.yaml | 6 + config/dataset_depth/data_nyu_test.yaml | 5 + config/dataset_depth/data_nyu_train.yaml | 5 + config/dataset_depth/data_scannet_val.yaml | 4 + config/dataset_depth/data_vkitti_train.yaml | 6 + config/dataset_depth/data_vkitti_val.yaml | 6 + config/dataset_depth/dataset_train.yaml | 18 + config/dataset_depth/dataset_val.yaml | 45 + config/dataset_depth/dataset_vis.yaml | 9 + .../data_appearance_interiorverse_test.yaml | 4 + .../data_lighting_hypersim_test.yaml | 4 + .../dataset_iid/dataset_appearance_train.yaml | 9 + .../dataset_iid/dataset_appearance_val.yaml | 6 + .../dataset_iid/dataset_appearance_vis.yaml | 6 + .../dataset_iid/dataset_lighting_train.yaml | 12 + config/dataset_iid/dataset_lighting_val.yaml | 6 + config/dataset_iid/dataset_lighting_vis.yaml | 6 + config/dataset_normals/data_diode_test.yaml | 4 + config/dataset_normals/data_ibims_test.yaml | 4 + config/dataset_normals/data_nyu_test.yaml | 4 + config/dataset_normals/data_oasis_test.yaml | 4 + config/dataset_normals/data_scannet_test.yaml | 4 + config/dataset_normals/dataset_train.yaml | 25 + config/dataset_normals/dataset_val.yaml | 7 + config/dataset_normals/dataset_vis.yaml | 7 + config/model_sdv2.yaml | 2 +- ...rain_debug.yaml => train_debug_depth.yaml} | 6 +- config/train_debug_iid.yaml | 11 + config/train_debug_normals.yaml | 10 + ...arigold.yaml => train_marigold_depth.yaml} | 24 +- config/train_marigold_iid_appearance.yaml | 94 + config/train_marigold_iid_lighting.yaml | 90 + config/train_marigold_normals.yaml | 86 + config/wandb.yaml | 2 +- .../diode_val_all_filename_list.txt | 0 .../diode_val_indoor_filename_list.txt | 0 .../diode_val_outdoor_filename_list.txt | 0 data_split/diode_normals/diode_test.txt | 771 + .../eth3d_filename_list.txt | 0 .../filename_list_test_filtered.txt | 0 .../filename_list_train_filtered.txt | 0 .../filename_list_val_filtered.txt | 0 .../filename_list_val_filtered_small_80.txt | 0 .../selected_vis_sample.txt | 0 data_split/hypersim_iid/hypersim_test.txt | 5238 ++ .../hypersim_iid/hypersim_train_filtered.txt | 23842 ++++++++ data_split/hypersim_iid/hypersim_val.txt | 70 + data_split/hypersim_iid/hypersim_vis.txt | 5 + .../hypersim_filtered_all.txt | 48925 ++++++++++++++++ .../hypersim_filtered_test.txt | 5221 ++ .../hypersim_filtered_train.txt | 39415 +++++++++++++ .../hypersim_filtered_val.txt | 4289 ++ .../hypersim_filtered_val_100.txt | 100 + .../hypersim_filtered_vis_20.txt | 20 + data_split/ibims_normals/ibims_test.txt | 100 + .../interiorverse_test_scenes_85.txt | 2672 + .../interiorverse_train_scenes_85.txt | 45073 ++++++++++++++ .../interiorverse_val_scenes_85.txt | 5024 ++ .../interiorverse_val_scenes_85_small.txt | 3 + .../interiorverse_vis_scenes_85.txt | 26 + .../interiorverse_filtered_all.txt | 27198 +++++++++ .../interiorverse_filtered_test.txt | 1393 + .../interiorverse_filtered_train.txt | 23156 ++++++++ .../interiorverse_filtered_val.txt | 2649 + .../eigen_test_files_with_gt.txt | 0 .../eigen_val_from_train_800.txt | 0 .../eigen_val_from_train_sub_100.txt | 0 .../labeled/filename_list_test.txt | 0 .../labeled/filename_list_train.txt | 0 .../labeled/filename_list_train_small_100.txt | 0 data_split/nyu_normals/nyuv2_test.txt | 654 + data_split/oasis_normals/oasis_test.txt | 9999 ++++ .../scannet_val_sampled_list_800_1.txt | 0 data_split/scannet_normals/scannet_test.txt | 300 + data_split/sintel_normals/sintel_filtered.txt | 627 + .../{vkitti => vkitti_depth}/vkitti_train.txt | 0 .../{vkitti => vkitti_depth}/vkitti_val.txt | 0 doc/badges/badge-docker.svg | 29 - doc/badges/badge-hfdiffusers.svg | 2 + doc/badges/badge-pdf.svg | 1 + doc/badges/badge-website.svg | 130 +- doc/teaser_marigold_all.jpg | Bin 0 -> 1425681 bytes ...nsparant.png => teaser_marigold_depth.png} | Bin environment.yaml | 16 - marigold/__init__.py | 30 +- ...pipeline.py => marigold_depth_pipeline.py} | 145 +- marigold/marigold_iid_pipeline.py | 585 + marigold/marigold_normals_pipeline.py | 479 + marigold/util/batchsize.py | 23 +- marigold/util/ensemble.py | 118 +- marigold/util/image_util.py | 38 +- requirements++.txt | 3 +- requirements+.txt | 3 +- requirements.txt | 4 +- script/dataset_preprocess/hypersim/README.md | 22 - .../dataset_preprocess/hypersim/README.md | 22 + .../hypersim/hypersim_util.py | 32 +- .../hypersim/preprocess_hypersim.py | 37 +- eval.py => script/depth/eval.py | 109 +- script/depth/eval/0_infer_eval_all.sh | 22 + script/depth/eval/11_infer_nyu.sh | 18 + script/{ => depth}/eval/12_eval_nyu.sh | 6 +- script/depth/eval/21_infer_kitti.sh | 18 + script/{ => depth}/eval/22_eval_kitti.sh | 6 +- script/depth/eval/31_infer_eth3d.sh | 19 + script/{ => depth}/eval/32_eval_eth3d.sh | 6 +- script/depth/eval/41_infer_scannet.sh | 18 + script/{ => depth}/eval/42_eval_scannet.sh | 6 +- script/depth/eval/51_infer_diode.sh | 19 + script/{ => depth}/eval/52_eval_diode.sh | 6 +- script/depth/eval_old/0_infer_eval_all.sh | 20 + .../{eval => depth/eval_old}/11_infer_nyu.sh | 8 +- script/depth/eval_old/12_eval_nyu.sh | 12 + .../eval_old}/21_infer_kitti.sh | 8 +- script/depth/eval_old/22_eval_kitti.sh | 12 + .../eval_old}/31_infer_eth3d.sh | 8 +- script/depth/eval_old/32_eval_eth3d.sh | 13 + .../eval_old}/41_infer_scannet.sh | 8 +- script/depth/eval_old/42_eval_scannet.sh | 12 + .../eval_old}/51_infer_diode.sh | 8 +- script/depth/eval_old/52_eval_diode.sh | 12 + infer.py => script/depth/infer.py | 113 +- run.py => script/depth/run.py | 94 +- train.py => script/depth/train.py | 90 +- script/download_sample_data.sh | 10 +- script/download_weights.sh | 13 +- script/eval/0_infer_eval_all.sh | 18 - .../hypersim_lighting/README.md | 18 + .../hypersim_lighting/hypersim_util.py | 74 + .../preprocess_hypersim_iid.py | 343 + .../interiorverse_appearance/README.md | 29 + .../preprocess_interiorverse_iid.py | 94 + script/iid/eval.py | 239 + .../eval/11_infer_appearance_interiorverse.sh | 17 + .../eval/12_eval_appearance_interiorverse.sh | 13 + script/iid/eval/21_infer_lighting_hypersim.sh | 17 + script/iid/eval/22_eval_lighting_hypersim.sh | 13 + script/iid/infer.py | 287 + script/iid/run.py | 270 + script/iid/train.py | 373 + .../dataset_preprocess/hypersim/README.md | 19 + .../hypersim/hypersim_util.py | 74 + .../hypersim/preprocess_hypersim_normals.py | 222 + .../interiorverse/README.md | 17 + .../preprocess_interiorverse_normals.py | 113 + .../dataset_preprocess/sintel/README.md | 16 + script/normals/eval.py | 181 + script/normals/eval/11_infer_scannet.sh | 17 + script/normals/eval/12_eval_scannet.sh | 11 + script/normals/eval/21_infer_nyu.sh | 17 + script/normals/eval/22_eval_nyu.sh | 11 + script/normals/eval/31_infer_ibims.sh | 17 + script/normals/eval/32_eval_ibims.sh | 11 + script/normals/eval/41_infer_diode.sh | 17 + script/normals/eval/42_eval_diode.sh | 11 + script/normals/eval/51_infer_oasis.sh | 17 + script/normals/eval/52_eval_oasis.sh | 11 + script/normals/infer.py | 271 + script/normals/run.py | 270 + script/normals/train.py | 373 + src/__init__.py | 29 + src/dataset/__init__.py | 87 +- src/dataset/base_depth_dataset.py | 41 +- src/dataset/base_iid_dataset.py | 207 + src/dataset/base_normals_dataset.py | 271 + src/dataset/diode_dataset.py | 35 +- src/dataset/eth3d_dataset.py | 30 +- src/dataset/hypersim_dataset.py | 114 +- src/dataset/ibims_dataset.py | 35 + src/dataset/interiorverse_dataset.py | 83 + src/dataset/kitti_dataset.py | 24 +- src/dataset/mixed_sampler.py | 22 +- src/dataset/nyu_dataset.py | 29 +- src/dataset/oasis_dataset.py | 35 + src/dataset/scannet_dataset.py | 29 +- src/dataset/sintel_dataset.py | 77 + src/dataset/vkitti_dataset.py | 32 +- src/trainer/__init__.py | 39 +- ...d_trainer.py => marigold_depth_trainer.py} | 137 +- src/trainer/marigold_iid_trainer.py | 739 + src/trainer/marigold_normals_trainer.py | 666 + src/util/alignment.py | 38 +- src/util/config_util.py | 37 +- src/util/data_loader.py | 33 +- src/util/depth_transform.py | 33 +- src/util/image_util.py | 128 + src/util/logging_util.py | 37 +- src/util/loss.py | 31 +- src/util/lr_scheduler.py | 37 +- src/util/metric.py | 190 +- src/util/multi_res_noise.py | 36 +- src/util/seeding.py | 22 +- src/util/slurm_util.py | 31 +- 215 files changed, 256246 insertions(+), 1019 deletions(-) create mode 100644 LICENSE-MODEL.txt delete mode 100644 config/dataset/data_diode_all.yaml delete mode 100644 config/dataset/data_eth3d.yaml delete mode 100644 config/dataset/data_hypersim_train.yaml delete mode 100644 config/dataset/data_hypersim_val.yaml delete mode 100644 config/dataset/data_kitti_eigen_test.yaml delete mode 100644 config/dataset/data_kitti_val.yaml delete mode 100644 config/dataset/data_nyu_test.yaml delete mode 100644 config/dataset/data_nyu_train.yaml delete mode 100644 config/dataset/data_scannet_val.yaml delete mode 100644 config/dataset/data_vkitti_train.yaml delete mode 100644 config/dataset/data_vkitti_val.yaml delete mode 100644 config/dataset/dataset_train.yaml delete mode 100644 config/dataset/dataset_val.yaml delete mode 100644 config/dataset/dataset_vis.yaml create mode 100644 config/dataset_depth/data_diode_all.yaml create mode 100644 config/dataset_depth/data_eth3d.yaml create mode 100644 config/dataset_depth/data_hypersim_train.yaml create mode 100644 config/dataset_depth/data_hypersim_val.yaml create mode 100644 config/dataset_depth/data_kitti_eigen_test.yaml create mode 100644 config/dataset_depth/data_kitti_val.yaml create mode 100644 config/dataset_depth/data_nyu_test.yaml create mode 100644 config/dataset_depth/data_nyu_train.yaml create mode 100644 config/dataset_depth/data_scannet_val.yaml create mode 100644 config/dataset_depth/data_vkitti_train.yaml create mode 100644 config/dataset_depth/data_vkitti_val.yaml create mode 100644 config/dataset_depth/dataset_train.yaml create mode 100644 config/dataset_depth/dataset_val.yaml create mode 100644 config/dataset_depth/dataset_vis.yaml create mode 100644 config/dataset_iid/data_appearance_interiorverse_test.yaml create mode 100644 config/dataset_iid/data_lighting_hypersim_test.yaml create mode 100644 config/dataset_iid/dataset_appearance_train.yaml create mode 100644 config/dataset_iid/dataset_appearance_val.yaml create mode 100644 config/dataset_iid/dataset_appearance_vis.yaml create mode 100644 config/dataset_iid/dataset_lighting_train.yaml create mode 100644 config/dataset_iid/dataset_lighting_val.yaml create mode 100644 config/dataset_iid/dataset_lighting_vis.yaml create mode 100644 config/dataset_normals/data_diode_test.yaml create mode 100644 config/dataset_normals/data_ibims_test.yaml create mode 100644 config/dataset_normals/data_nyu_test.yaml create mode 100644 config/dataset_normals/data_oasis_test.yaml create mode 100644 config/dataset_normals/data_scannet_test.yaml create mode 100644 config/dataset_normals/dataset_train.yaml create mode 100644 config/dataset_normals/dataset_val.yaml create mode 100644 config/dataset_normals/dataset_vis.yaml rename config/{train_debug.yaml => train_debug_depth.yaml} (63%) create mode 100644 config/train_debug_iid.yaml create mode 100644 config/train_debug_normals.yaml rename config/{train_marigold.yaml => train_marigold_depth.yaml} (78%) create mode 100644 config/train_marigold_iid_appearance.yaml create mode 100644 config/train_marigold_iid_lighting.yaml create mode 100644 config/train_marigold_normals.yaml rename data_split/{diode => diode_depth}/diode_val_all_filename_list.txt (100%) rename data_split/{diode => diode_depth}/diode_val_indoor_filename_list.txt (100%) rename data_split/{diode => diode_depth}/diode_val_outdoor_filename_list.txt (100%) create mode 100644 data_split/diode_normals/diode_test.txt rename data_split/{eth3d => eth3d_depth}/eth3d_filename_list.txt (100%) rename data_split/{hypersim => hypersim_depth}/filename_list_test_filtered.txt (100%) rename data_split/{hypersim => hypersim_depth}/filename_list_train_filtered.txt (100%) rename data_split/{hypersim => hypersim_depth}/filename_list_val_filtered.txt (100%) rename data_split/{hypersim => hypersim_depth}/filename_list_val_filtered_small_80.txt (100%) rename data_split/{hypersim => hypersim_depth}/selected_vis_sample.txt (100%) create mode 100644 data_split/hypersim_iid/hypersim_test.txt create mode 100644 data_split/hypersim_iid/hypersim_train_filtered.txt create mode 100644 data_split/hypersim_iid/hypersim_val.txt create mode 100644 data_split/hypersim_iid/hypersim_vis.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_all.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_test.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_train.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_val.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_val_100.txt create mode 100644 data_split/hypersim_normals/hypersim_filtered_vis_20.txt create mode 100644 data_split/ibims_normals/ibims_test.txt create mode 100644 data_split/interiorverse_iid/interiorverse_test_scenes_85.txt create mode 100644 data_split/interiorverse_iid/interiorverse_train_scenes_85.txt create mode 100644 data_split/interiorverse_iid/interiorverse_val_scenes_85.txt create mode 100644 data_split/interiorverse_iid/interiorverse_val_scenes_85_small.txt create mode 100644 data_split/interiorverse_iid/interiorverse_vis_scenes_85.txt create mode 100644 data_split/interiorverse_normals/interiorverse_filtered_all.txt create mode 100644 data_split/interiorverse_normals/interiorverse_filtered_test.txt create mode 100644 data_split/interiorverse_normals/interiorverse_filtered_train.txt create mode 100644 data_split/interiorverse_normals/interiorverse_filtered_val.txt rename data_split/{kitti => kitti_depth}/eigen_test_files_with_gt.txt (100%) rename data_split/{kitti => kitti_depth}/eigen_val_from_train_800.txt (100%) rename data_split/{kitti => kitti_depth}/eigen_val_from_train_sub_100.txt (100%) rename data_split/{nyu => nyu_depth}/labeled/filename_list_test.txt (100%) rename data_split/{nyu => nyu_depth}/labeled/filename_list_train.txt (100%) rename data_split/{nyu => nyu_depth}/labeled/filename_list_train_small_100.txt (100%) create mode 100644 data_split/nyu_normals/nyuv2_test.txt create mode 100644 data_split/oasis_normals/oasis_test.txt rename data_split/{scannet => scannet_depth}/scannet_val_sampled_list_800_1.txt (100%) create mode 100644 data_split/scannet_normals/scannet_test.txt create mode 100644 data_split/sintel_normals/sintel_filtered.txt rename data_split/{vkitti => vkitti_depth}/vkitti_train.txt (100%) rename data_split/{vkitti => vkitti_depth}/vkitti_val.txt (100%) delete mode 100644 doc/badges/badge-docker.svg create mode 100644 doc/badges/badge-hfdiffusers.svg create mode 100644 doc/badges/badge-pdf.svg create mode 100644 doc/teaser_marigold_all.jpg rename doc/{teaser_collage_transparant.png => teaser_marigold_depth.png} (100%) delete mode 100644 environment.yaml rename marigold/{marigold_pipeline.py => marigold_depth_pipeline.py} (78%) create mode 100644 marigold/marigold_iid_pipeline.py create mode 100644 marigold/marigold_normals_pipeline.py delete mode 100644 script/dataset_preprocess/hypersim/README.md create mode 100644 script/depth/dataset_preprocess/hypersim/README.md rename script/{ => depth}/dataset_preprocess/hypersim/hypersim_util.py (65%) rename script/{ => depth}/dataset_preprocess/hypersim/preprocess_hypersim.py (79%) rename eval.py => script/depth/eval.py (72%) create mode 100644 script/depth/eval/0_infer_eval_all.sh create mode 100644 script/depth/eval/11_infer_nyu.sh rename script/{ => depth}/eval/12_eval_nyu.sh (55%) create mode 100644 script/depth/eval/21_infer_kitti.sh rename script/{ => depth}/eval/22_eval_kitti.sh (71%) create mode 100644 script/depth/eval/31_infer_eth3d.sh rename script/{ => depth}/eval/32_eval_eth3d.sh (67%) create mode 100644 script/depth/eval/41_infer_scannet.sh rename script/{ => depth}/eval/42_eval_scannet.sh (55%) create mode 100644 script/depth/eval/51_infer_diode.sh rename script/{ => depth}/eval/52_eval_diode.sh (55%) create mode 100644 script/depth/eval_old/0_infer_eval_all.sh rename script/{eval => depth/eval_old}/11_infer_nyu.sh (58%) create mode 100644 script/depth/eval_old/12_eval_nyu.sh rename script/{eval => depth/eval_old}/21_infer_kitti.sh (70%) create mode 100644 script/depth/eval_old/22_eval_kitti.sh rename script/{eval => depth/eval_old}/31_infer_eth3d.sh (66%) create mode 100644 script/depth/eval_old/32_eval_eth3d.sh rename script/{eval => depth/eval_old}/41_infer_scannet.sh (58%) create mode 100644 script/depth/eval_old/42_eval_scannet.sh rename script/{eval => depth/eval_old}/51_infer_diode.sh (66%) create mode 100644 script/depth/eval_old/52_eval_diode.sh rename infer.py => script/depth/infer.py (70%) rename run.py => script/depth/run.py (76%) rename train.py => script/depth/train.py (83%) delete mode 100644 script/eval/0_infer_eval_all.sh create mode 100644 script/iid/dataset_preprocess/hypersim_lighting/README.md create mode 100644 script/iid/dataset_preprocess/hypersim_lighting/hypersim_util.py create mode 100644 script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py create mode 100644 script/iid/dataset_preprocess/interiorverse_appearance/README.md create mode 100644 script/iid/dataset_preprocess/interiorverse_appearance/preprocess_interiorverse_iid.py create mode 100644 script/iid/eval.py create mode 100644 script/iid/eval/11_infer_appearance_interiorverse.sh create mode 100644 script/iid/eval/12_eval_appearance_interiorverse.sh create mode 100644 script/iid/eval/21_infer_lighting_hypersim.sh create mode 100644 script/iid/eval/22_eval_lighting_hypersim.sh create mode 100644 script/iid/infer.py create mode 100644 script/iid/run.py create mode 100644 script/iid/train.py create mode 100644 script/normals/dataset_preprocess/hypersim/README.md create mode 100644 script/normals/dataset_preprocess/hypersim/hypersim_util.py create mode 100644 script/normals/dataset_preprocess/hypersim/preprocess_hypersim_normals.py create mode 100644 script/normals/dataset_preprocess/interiorverse/README.md create mode 100644 script/normals/dataset_preprocess/interiorverse/preprocess_interiorverse_normals.py create mode 100644 script/normals/dataset_preprocess/sintel/README.md create mode 100644 script/normals/eval.py create mode 100644 script/normals/eval/11_infer_scannet.sh create mode 100644 script/normals/eval/12_eval_scannet.sh create mode 100644 script/normals/eval/21_infer_nyu.sh create mode 100644 script/normals/eval/22_eval_nyu.sh create mode 100644 script/normals/eval/31_infer_ibims.sh create mode 100644 script/normals/eval/32_eval_ibims.sh create mode 100644 script/normals/eval/41_infer_diode.sh create mode 100644 script/normals/eval/42_eval_diode.sh create mode 100644 script/normals/eval/51_infer_oasis.sh create mode 100644 script/normals/eval/52_eval_oasis.sh create mode 100644 script/normals/infer.py create mode 100644 script/normals/run.py create mode 100644 script/normals/train.py create mode 100644 src/dataset/base_iid_dataset.py create mode 100644 src/dataset/base_normals_dataset.py create mode 100644 src/dataset/ibims_dataset.py create mode 100644 src/dataset/interiorverse_dataset.py create mode 100644 src/dataset/oasis_dataset.py create mode 100644 src/dataset/sintel_dataset.py rename src/trainer/{marigold_trainer.py => marigold_depth_trainer.py} (88%) create mode 100644 src/trainer/marigold_iid_trainer.py create mode 100644 src/trainer/marigold_normals_trainer.py create mode 100644 src/util/image_util.py diff --git a/.gitignore b/.gitignore index 331500d..612930b 100644 --- a/.gitignore +++ b/.gitignore @@ -20,3 +20,9 @@ *.mexa64 *.pdf *.tar + +# ignore files and dirs with temp in the name +*temp* + + + diff --git a/LICENSE-MODEL.txt b/LICENSE-MODEL.txt new file mode 100644 index 0000000..4a649da --- /dev/null +++ b/LICENSE-MODEL.txt @@ -0,0 +1,69 @@ +OpenRAIL++-M License + +Copyright (c) 2023-2025 PRS, ETH Zürich + +Open RAIL++-M +dated November 22, 2024 + +(This license is based on the CreativeML Open RAIL-M license for stable diffusion.) + +Section I: PREAMBLE + +[describe reasoning for the license] + +NOW THEREFORE, You and Licensor agree as follows: + +1. Definitions + +- "License" means the terms and conditions for use, reproduction, and Distribution as defined in this document. +- "Data" means a collection of information and/or content extracted from the dataset used with the Model, including to train, pretrain, or otherwise evaluate the Model. 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If any provision of this License is held to be invalid, illegal or unenforceable, the remaining provisions shall be unaffected thereby and remain valid as if such provision had not been set forth herein. + +END OF TERMS AND CONDITIONS + + + + +Attachment A + +Use Restrictions + +You agree not to use the Model or Derivatives of the Model: + +[insert use restrictions] \ No newline at end of file diff --git a/README.md b/README.md index 70d95ca..a31d3be 100644 --- a/README.md +++ b/README.md @@ -1,59 +1,98 @@ -# Marigold: Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation +# Marigold Computer Vision -**CVPR 2024 (Oral, Best Paper Award Candidate)** +This project implements Marigold, a Computer Vision method for estimating image characteristics. Initially proposed for +extracting high-resolution depth maps in our CVPR 2024 paper **"Repurposing Diffusion-Based Image Generators for Monocular +Depth Estimation"**, we extended the method to other modalities as described in our follow-up paper **"Marigold: Affordable +Adaptation of Diffusion-Based Image Generators for Image Analysis"**. -This repository represents the official implementation of the paper titled "Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation". +## Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation [![Website](doc/badges/badge-website.svg)](https://marigoldmonodepth.github.io) -[![Paper](https://img.shields.io/badge/arXiv-PDF-b31b1b)](https://arxiv.org/abs/2312.02145) -[![Hugging Face (LCM) Space](https://img.shields.io/badge/🤗%20Hugging%20Face%20(LCM)-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold-lcm) -[![Hugging Face (LCM) Model](https://img.shields.io/badge/🤗%20Hugging%20Face%20(LCM)-Model-green)](https://huggingface.co/prs-eth/marigold-lcm-v1-0) +[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2312.02145) +[![Hugging Face Space](https://img.shields.io/badge/🤗%20Hugging%20Face-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold) +[![Hugging Face Model](https://img.shields.io/badge/🤗%20Hugging%20Face%20-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) [![Open In Colab](doc/badges/badge-colab.svg)](https://colab.research.google.com/drive/12G8reD13DdpMie5ZQlaFNo2WCGeNUH-u?usp=sharing) -[![License](https://img.shields.io/badge/License-Apache--2.0-929292)](https://www.apache.org/licenses/LICENSE-2.0) - - - - - +In **CVPR 2024 (Oral, Best Paper Award Candidate)**
+Team: [Bingxin Ke](http://www.kebingxin.com/), [Anton Obukhov](https://www.obukhov.ai/), [Shengyu Huang](https://shengyuh.github.io/), [Nando Metzger](https://nandometzger.github.io/), [Rodrigo Caye Daudt](https://rcdaudt.github.io/), -[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ&hl=en ) +[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ) -We present Marigold, a diffusion model, and associated fine-tuning protocol for monocular depth estimation. Its core principle is to leverage the rich visual knowledge stored in modern generative image models. Our model, derived from Stable Diffusion and fine-tuned with synthetic data, can zero-shot transfer to unseen data, offering state-of-the-art monocular depth estimation results. +We present Marigold, a diffusion model, and associated fine-tuning protocol for monocular depth estimation. Its core +principle is to leverage the rich visual knowledge stored in modern generative image models. Our model, derived from +Stable Diffusion and fine-tuned with synthetic data, can zero-shot transfer to unseen data, offering state-of-the-art +monocular depth estimation results. -![teaser](doc/teaser_collage_transparant.png) +![teaser_depth](doc/teaser_marigold_depth.png) + +## Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis + +[![Website](doc/badges/badge-website.svg)](https://marigoldcomputervision.github.io) +[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2312.02145) +[![Depth Demo](https://img.shields.io/badge/🤗%20Depth-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold) +[![Normals Demo](https://img.shields.io/badge/🤗%20Normals-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-normals) +[![Intrinsics Demo](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-iid) +[![Depth Model](https://img.shields.io/badge/🤗%20Depth-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) +[![Normals Model](https://img.shields.io/badge/🤗%20Normals-Model-green)](https://huggingface.co/prs-eth/marigold-normals-v1-1) +[![Intrinsics Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Model-green)](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) +[![Diffusers](doc/badges/badge-hfdiffusers.svg)](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage) + +Team: +[Bingxin Ke](http://www.kebingxin.com/), +[Kevin Qu](https://www.linkedin.com/in/kevin-qu-b3417621b/), +[Tianfu Wang](https://tianfwang.github.io/) +[Nando Metzger](https://nandometzger.github.io/), +[Shengyu Huang](https://shengyuh.github.io/), +[Bo Li](https://www.linkedin.com/in/bobboli0202/), +[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ), +[Anton Obukhov](https://www.obukhov.ai/) + +We present Marigold, a family of conditional generative models and a fine-tuning protocol that extracts the knowledge +from pretrained latent diffusion models like Stable Diffusion and adapts them for dense image analysis tasks, including +monocular depth estimation, surface normal prediction, and intrinsic decomposition. Marigold requires minimal +modification of the pre-trained latent diffusion model's architecture, trains with small synthetic datasets on a single +GPU over a few days, and demonstrates state-of-the-art zero-shot generalization. + +![teaser_all](doc/teaser_marigold_all.jpg) ## 📢 News +2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, diffuse Shading, and non-diffuse Residual (Marigold-IID-Lighting v1.1).
+2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, Roughness, and Metallicity (Marigold-IID-Appearance v1.1).
+2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-normals-v1-1) of Marigold Surface Normals Estimation (v1.1).
+2025-03-24: Released an updated [checkpoint](https://huggingface.co/prs-eth/marigold-depth-v1-1) of Marigold Depth (v1.1), trained with updated noise scheduler settings (zero-SNR and trailing timestamps), and augmentations.
2024-05-28: Training code is released.
-2024-03-23: Added [LCM v1.0](https://huggingface.co/prs-eth/marigold-lcm-v1-0) for faster inference - try it out at
-2024-03-04: Accepted to CVPR 2024.
-2023-12-22: Contributed to Diffusers [community pipeline](https://github.com/huggingface/diffusers/tree/main/examples/community#marigold-depth-estimation).
+2024-05-27: Marigold pipelines are merged into the `diffusers` core starting v0.28.0 [release](https://github.com/huggingface/diffusers/releases/tag/v0.28.0)!
+2024-03-23: Added a Latent Consistency Model (LCM) [checkpoint](https://huggingface.co/prs-eth/marigold-depth-lcm-v1-0).
+2024-03-04: The paper is accepted at CVPR 2024.
+2023-12-22: Contributed to Diffusers [community pipeline](https://github.com/huggingface/diffusers/tree/main/examples/community#marigold-depth-estimation).
2023-12-19: Updated [license](LICENSE.txt) to Apache License, Version 2.0.
-2023-12-08: Added - - try it out with your images for free!
-2023-12-05: Added - dive deeper into our inference pipeline!
-2023-12-04: Added -paper and inference code (this repository). +2023-12-08: Added the first interactive [Hugging Face Space Demo](https://huggingface.co/spaces/prs-eth/marigold) of depth estimation.
+2023-12-05: Added a [Google Colab](https://colab.research.google.com/drive/12G8reD13DdpMie5ZQlaFNo2WCGeNUH-u?usp=sharing)
+2023-12-04: Added an [arXiv paper](https://arxiv.org/abs/2312.02145) and inference code (this repository). ## 🚀 Usage **We offer several ways to interact with Marigold**: -1. We integrated [Marigold Pipelines into diffusers 🧨](https://huggingface.co/docs/diffusers/api/pipelines/marigold). Check out many exciting usage scenarios in [this diffusers tutorial](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage). +1. A family of free online interactive demos: + + + +(kudos to the HF team for the GPU grants) -1. A free online interactive demo is available here: (kudos to the HF team for the GPU grant) +1. Marigold pipelines are part of + - a one-stop shop for diffusion 🧨! 1. Run the demo locally (requires a GPU and an `nvidia-docker2`, see [Installation Guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)): - 1. Paper version: `docker run -it -p 7860:7860 --platform=linux/amd64 --gpus all registry.hf.space/toshas-marigold:latest python app.py` - 1. LCM version: `docker run -it -p 7860:7860 --platform=linux/amd64 --gpus all registry.hf.space/prs-eth-marigold-lcm:latest python app.py` +`docker run -it -p 7860:7860 --platform=linux/amd64 --gpus all registry.hf.space/prs-eth-marigold:latest python app.py` 1. Extended demo on a Google Colab: -1. If you just want to see the examples, visit our gallery: +1. If you just want to see the examples, visit our gallery: 1. Finally, local development instructions with this codebase are given below. @@ -82,29 +121,13 @@ cd Marigold ### 💻 Dependencies -We provide several ways to install the dependencies. +Install the dependencies: -1. **Using [Mamba](https://github.com/mamba-org/mamba)**, which can installed together with [Miniforge3](https://github.com/conda-forge/miniforge?tab=readme-ov-file#miniforge3). - - Windows users: Install the Linux version into the WSL. - - After the installation, Miniforge needs to be activated first: `source /home/$USER/miniforge3/bin/activate`. - - Create the environment and install dependencies into it: - - ```bash - mamba env create -n marigold --file environment.yaml - conda activate marigold - ``` - -2. **Using pip:** - Alternatively, create a Python native virtual environment and install dependencies into it: - - ```bash - python -m venv venv/marigold - source venv/marigold/bin/activate - pip install -r requirements.txt - ``` +```bash +python -m venv venv/marigold +source venv/marigold/bin/activate +pip install -r requirements.txt +``` Keep the environment activated before running the inference script. Activate the environment again after restarting the terminal session. @@ -113,62 +136,130 @@ Activate the environment again after restarting the terminal session. ### 📷 Prepare images -1. Use selected images from our paper: - - ```bash - bash script/download_sample_data.sh - ``` +Use selected images from our paper: -1. Or place your images in a directory, for example, under `input/in-the-wild_example`, and run the following inference command. +```bash +bash script/download_sample_data.sh +``` -### 🚀 Run inference with LCM (faster) +Or place your images in a directory, for example, under `input/in-the-wild_example`, and run the following inference command. -The [LCM checkpoint](https://huggingface.co/prs-eth/marigold-lcm-v1-0) is distilled from our original checkpoint towards faster inference speed (by reducing inference steps). The inference steps can be as few as 1 (default) to 4. Run with default LCM setting: +### 🚀 Run inference (for practical usage) ```bash - python run.py \ - --input_rgb_dir input/in-the-wild_example \ - --output_dir output/in-the-wild_example_lcm - ``` - -### 🎮 Run inference with DDIM (paper setting) - -This setting corresponds to our paper. For academic comparison, please run with this setting. +# Depth +python script/depth/run.py \ + --checkpoint prs-eth/marigold-depth-v1-1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example \ + --fp16 +``` ```bash -python run.py \ - --checkpoint prs-eth/marigold-v1-0 \ - --denoise_steps 50 \ - --ensemble_size 10 \ +# Normals +python script/normals/run.py \ + --checkpoint prs-eth/marigold-normals-v1-1 \ --input_rgb_dir input/in-the-wild_example \ - --output_dir output/in-the-wild_example + --output_dir output/in-the-wild_example \ + --fp16 ``` -You can find all results in `output/in-the-wild_example`. Enjoy! +```bash +# IID (appearance model) +python script/iid/run.py \ + --checkpoint prs-eth/marigold-iid-appearance-v1-1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example \ + --fp16 + +# IID (lighting model) +python script/iid/run.py \ + --checkpoint prs-eth/marigold-iid-lighting-v1-1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example \ + --fp16 +``` ### ⚙️ Inference settings -The default settings are optimized for the best result. However, the behavior of the code can be customized: +The default settings are optimized for the best results. However, the behavior of the code can be customized: + +- `--half_precision` or `--fp16`: Run with half-precision (16-bit float) to have faster speed and reduced VRAM usage, but might lead to suboptimal results. + +- `--ensemble_size`: Number of inference passes in the ensemble. Larger values tend to give better results in evaluations at the cost of slower inference; for most cases 1 is enough. Default: 1. -- Trade-offs between the **accuracy** and **speed** (for both options, larger values result in better accuracy at the cost of slower inference.) - - `--ensemble_size`: Number of inference passes in the ensemble. For LCM `ensemble_size` is more important than `denoise_steps`. Default: ~~10~~ 5 (for LCM). - - `--denoise_steps`: Number of denoising steps of each inference pass. For the original (DDIM) version, it's recommended to use 10-50 steps, while for LCM 1-4 steps. When unassigned (`None`), will read default setting from model config. Default: ~~10 4 (for LCM)~~ `None`. +- `--denoise_steps`: Number of denoising diffusion steps. Default settings are defined in the model checkpoints and are sufficient for most cases. - By default, the inference script resizes input images to the *processing resolution*, and then resizes the prediction back to the original resolution. This gives the best quality, as Stable Diffusion, from which Marigold is derived, performs best at 768x768 resolution. - - `--processing_res`: the processing resolution; set as 0 to process the input resolution directly. When unassigned (`None`), will read default setting from model config. Default: ~~768~~ `None`. + - `--processing_res`: the processing resolution; set as 0 to process the input resolution directly. When unassigned (`None`), will read default setting from model config. Default: `None`. - `--output_processing_res`: produce output at the processing resolution instead of upsampling it to the input resolution. Default: False. - `--resample_method`: the resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic`, or `nearest`. Default: `bilinear`. -- `--half_precision` or `--fp16`: Run with half-precision (16-bit float) to have faster speed and reduced VRAM usage, but might lead to suboptimal results. - `--seed`: Random seed can be set to ensure additional reproducibility. Default: None (unseeded). Note: forcing `--batch_size 1` helps to increase reproducibility. To ensure full reproducibility, [deterministic mode](https://pytorch.org/docs/stable/notes/randomness.html#avoiding-nondeterministic-algorithms) needs to be used. - `--batch_size`: Batch size of repeated inference. Default: 0 (best value determined automatically). - `--color_map`: [Colormap](https://matplotlib.org/stable/users/explain/colors/colormaps.html) used to colorize the depth prediction. Default: Spectral. Set to `None` to skip colored depth map generation. - `--apple_silicon`: Use Apple Silicon MPS acceleration. + +### 🎮 Run inference (for academic comparisons) + +These settings correspond to our paper. For academic comparison, please run with the settings below (if you only want to do fast inference on your own images, you can set `--ensemble_size 1`). + +```bash +# Depth +python script/depth/run.py \ + --checkpoint prs-eth/marigold-depth-v1-1 \ + --denoise_steps 1 \ + --ensemble_size 10 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` + +```bash +# Normals +python script/normals/run.py \ + --checkpoint prs-eth/marigold-normals-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` + +```bash +# IID (appearance model) +python script/iid/run.py \ + --checkpoint prs-eth/marigold-iid-appearance-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example + +# IID (lighting model) +python script/iid/run.py \ + --checkpoint prs-eth/marigold-iid-lighting-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` + +```bash +# Depth (the original CVPR version) +python script/depth/run.py \ + --checkpoint prs-eth/marigold-depth-v1-0 \ + --denoise_steps 50 \ + --ensemble_size 10 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` + +You can find all results in the `output` directory. Enjoy! + + ### ⬇ Checkpoint cache -By default, the [checkpoint](https://huggingface.co/prs-eth/marigold-v1-0) is stored in the Hugging Face cache. +By default, the checkpoint ([depth](https://huggingface.co/prs-eth/marigold-depth-v1-1), [normals](https://huggingface.co/prs-eth/marigold-normals-v1-1), [iid](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1)) is stored in the Hugging Face cache. The `HF_HOME` environment variable defines its location and can be overridden, e.g.: ```bash @@ -178,46 +269,102 @@ export HF_HOME=$(pwd)/cache Alternatively, use the following script to download the checkpoint weights locally: ```bash -bash script/download_weights.sh marigold-v1-0 -# or LCM checkpoint -bash script/download_weights.sh marigold-lcm-v1-0 +bash script/download_weights.sh marigold-depth-v1-1 # depth checkpoint +bash script/download_weights.sh marigold-normals-v1-1 # normals checkpoint +bash script/download_weights.sh marigold-iid-appearance-v1-1 # iid appearance checkpoint +bash script/download_weights.sh marigold-iid-lighting-v1-1 # iid lighting checkpoint +# bash script/download_weights.sh marigold-depth-v1-0 # CVPR depth checkpoint ``` At inference, specify the checkpoint path: ```bash -python run.py \ - --checkpoint checkpoint/marigold-v1-0 \ - --denoise_steps 50 \ - --ensemble_size 10 \ - --input_rgb_dir input/in-the-wild_example\ +# Depth +python script/depth/run.py \ + --checkpoint checkpoint/marigold-depth-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ --output_dir output/in-the-wild_example ``` -## 🦿 Evaluation on test datasets +```bash +# Normals +python script/normals/run.py \ + --checkpoint checkpoint/marigold-normals-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` + +```bash +# IID (appearance model) +python script/iid/run.py \ + --checkpoint checkpoint/marigold-iid-appearance-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example + +# IID (lighting model) +python script/iid/run.py \ + --checkpoint checkpoint/marigold-iid-lighting-v1-1 \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --input_rgb_dir input/in-the-wild_example \ + --output_dir output/in-the-wild_example +``` +## 🦿 Evaluation on test datasets Install additional dependencies: ```bash pip install -r requirements+.txt -r requirements.txt -``` +``` -Set data directory variable (also needed in evaluation scripts) and download [evaluation datasets](https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset) into corresponding subfolders: +Set data directory variable (also needed in evaluation scripts) and download the evaluation datasets ([depth](https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset), [normals](https://share.phys.ethz.ch/~pf/bingkedata/marigold/marigold_normals/evaluation_dataset)) into the corresponding subfolders: ```bash export BASE_DATA_DIR= # Set target data directory +# Depth wget -r -np -nH --cut-dirs=4 -R "index.html*" -P ${BASE_DATA_DIR} https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset/ + +# Normals +wget -r -np -nH --cut-dirs=4 -R "index.html*" -P ${BASE_DATA_DIR} https://share.phys.ethz.ch/~pf/bingkedata/marigold/marigold_normals/evaluation_dataset.zip +unzip ${BASE_DATA_DIR}/evaluation_dataset.zip -d ${BASE_DATA_DIR}/ +rm -f ${BASE_DATA_DIR}/evaluation_dataset.zip ``` +For download instructions of the intrinsic image decomposition test data, please refer to [iid-appearance instructions](script/iid/dataset_preprocess/interiorverse_appearance/README.md) and [iid-lighting instructions](script/iid/dataset_preprocess/hypersim_lighting/README.md). Run inference and evaluation scripts, for example: ```bash -# Run inference -bash script/eval/11_infer_nyu.sh +# Depth +bash script/depth/eval/11_infer_nyu.sh # Run inference +bash script/depth/eval/12_eval_nyu.sh # Evaluate predictions +``` + +```bash +# Normals +bash script/normals/eval/11_infer_scannet.sh # Run inference +bash script/normals/eval/12_eval_scannet.sh # Evaluate predictions +``` + +```bash +# IID +bash script/iid/eval/11_infer_appearance_interiorverse.sh # Run inference +bash script/iid/eval/12_eval_appearance_interiorverse.sh # Evaluate predictions + +bash script/iid/eval/21_infer_lighting_hypersim.sh # Run inference +bash script/iid/eval/22_eval_lighting_hypersim.sh # Evaluate predictions +``` -# Evaluate predictions -bash script/eval/12_eval_nyu.sh +```bash +# Depth (the original CVPR version) +bash script/depth/eval_old/11_infer_nyu.sh # Run inference +bash script/depth/eval_old/12_eval_nyu.sh # Evaluate predictions ``` Note: although the seed has been set, the results might still be slightly different on different hardware. @@ -233,29 +380,73 @@ pip install -r requirements++.txt -r requirements+.txt -r requirements.txt Set environment parameters for the data directory: ```bash -export BASE_DATA_DIR=YOUR_DATA_DIR # directory of training data +export BASE_DATA_DIR=YOUR_DATA_DIR # directory of training data export BASE_CKPT_DIR=YOUR_CHECKPOINT_DIR # directory of pretrained checkpoint ``` Download Stable Diffusion v2 [checkpoint](https://huggingface.co/stabilityai/stable-diffusion-2) into `${BASE_CKPT_DIR}` -Prepare for [Hypersim](https://github.com/apple/ml-hypersim) and [Virtual KITTI 2](https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/) datasets and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/dataset_preprocess/hypersim/README.md) for Hypersim preprocessing. +### Prepare for training data +**Depth** + +Prepare for [Hypersim](https://github.com/apple/ml-hypersim) and [Virtual KITTI 2](https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/) datasets and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/depth/dataset_preprocess/hypersim/README.md) for Hypersim preprocessing. + +**Normals** + +Prepare for [Hypersim](https://github.com/apple/ml-hypersim), [Interiorverse](https://interiorverse.github.io/) and [Sintel](http://sintel.is.tue.mpg.de/) datasets and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/normals/dataset_preprocess/hypersim/README.md) for Hypersim preprocessing, [this README](script/normals/dataset_preprocess/interiorverse/README.md) for Interiorverse and [this README](script/normals/dataset_preprocess/sintel/README.md) for Sintel. + +**Intrinsic Image Decomposition** + +*Appearance model*: Prepare for [Interiorverse](https://interiorverse.github.io/) dataset and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/iid/dataset_preprocess/interiorverse_appearance/README.md) for Interiorverse preprocessing. + +*Lighting model*: Prepare for [Hypersim](https://github.com/apple/ml-hypersim) dataset and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/iid/dataset_preprocess/hypersim_lighting/README.md) for Hypersim preprocessing. + -Run training script +### Run training script ```bash -python train.py --config config/train_marigold.yaml +# Depth +python script/depth/train.py --config config/train_marigold_depth.yaml ``` -Resume from a checkpoint, e.g. +```bash +# Normals +python script/normals/train.py --config config/train_marigold_normals.yaml +``` + +```bash +# IID (appearance model) +python script/iid/train.py --config config/train_marigold_iid_appearance.yaml + +# IID (lighting model) +python script/iid/train.py --config config/train_marigold_iid_lighting.yaml +``` + +Resume from a checkpoint, e.g.: ```bash -python train.py --resume_run output/marigold_base/checkpoint/latest +# Depth +python script/depth/train.py --resume_run output/marigold_base/checkpoint/latest ``` -Evaluating results +```bash +# Normals +python script/normals/train.py --resume_run output/train_marigold_normals/checkpoint/latest +``` -Only the U-Net is updated and saved during training. To use the inference pipeline with your training result, replace `unet` folder in Marigold checkpoints with that in the `checkpoint` output folder. Then refer to [this section](#evaluation) for evaluation. +```bash +# IID (appearance model) +python script/iid/train.py --resume_run output/train_marigold_iid_appearance/checkpoint/latest + +# IID (lighting model) +python script/iid/train.py --resume_run output/train_marigold_iid_lighting/checkpoint/latest +``` + +### Compose checkpoint: +Only the U-Net and scheduler config are updated during training. They are saved in the training directory. To use the inference pipeline with your training result: +- replace `unet` folder in Marigold checkpoints with that in the `checkpoint` output folder. +- replace the `scheduler/scheduler_config.json` file in Marigold checkpoints with `checkpoint/scheduler_config.json` generated during training. +Then refer to [this section](#evaluation) for evaluation. **Note**: Although random seeds have been set, the training result might be slightly different on different hardwares. It's recommended to train without interruption. @@ -269,6 +460,8 @@ Please refer to [this](CONTRIBUTING.md) instruction. |----------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------| | (Windows) Invalid DOS bash script on WSL | Run `dos2unix ` to convert script format | | (Windows) error on WSL: `Could not load library libcudnn_cnn_infer.so.8. Error: libcuda.so: cannot open shared object file: No such file or directory` | Run `export LD_LIBRARY_PATH=/usr/lib/wsl/lib:$LD_LIBRARY_PATH` | +| Training takes a long time to start | Use folders for data instead of tar files (modification in config files is required). | + ## 🎓 Citation @@ -286,8 +479,8 @@ Please cite our paper: ## 🎫 License -This work is licensed under the Apache License, Version 2.0 (as defined in the [LICENSE](LICENSE.txt)). +This code of this work is licensed under the Apache License, Version 2.0 (as defined in the [LICENSE](LICENSE.txt)). -By downloading and using the code and model you agree to the terms in the [LICENSE](LICENSE.txt). +The models are licensed under RAIL++-M License (as defined in the [LICENSE-MODEL](LICENSE-MODEL.txt)) -[![License](https://img.shields.io/badge/License-Apache--2.0-929292)](https://www.apache.org/licenses/LICENSE-2.0) +By downloading and using the code and model you agree to the terms in [LICENSE](LICENSE.txt) and [LICENSE-MODEL](LICENSE-MODEL.txt) respectively. diff --git a/config/dataset/data_diode_all.yaml b/config/dataset/data_diode_all.yaml deleted file mode 100644 index b95258d..0000000 --- a/config/dataset/data_diode_all.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: diode -disp_name: diode_val_all -dir: diode/diode_val.tar -filenames: data_split/diode/diode_val_all_filename_list.txt \ No newline at end of file diff --git a/config/dataset/data_eth3d.yaml b/config/dataset/data_eth3d.yaml deleted file mode 100644 index b8c9fc4..0000000 --- a/config/dataset/data_eth3d.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: eth3d -disp_name: eth3d_full -dir: eth3d/eth3d.tar -filenames: data_split/eth3d/eth3d_filename_list.txt \ No newline at end of file diff --git a/config/dataset/data_hypersim_train.yaml b/config/dataset/data_hypersim_train.yaml deleted file mode 100644 index 589a189..0000000 --- a/config/dataset/data_hypersim_train.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: hypersim -disp_name: hypersim_train -dir: hypersim/hypersim_processed_train.tar -filenames: data_split/hypersim/filename_list_train_filtered.txt \ No newline at end of file diff --git a/config/dataset/data_hypersim_val.yaml b/config/dataset/data_hypersim_val.yaml deleted file mode 100644 index fe26bdc..0000000 --- a/config/dataset/data_hypersim_val.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: hypersim -disp_name: hypersim_val -dir: hypersim/hypersim_processed_val.tar -filenames: data_split/hypersim/filename_list_val_filtered.txt \ No newline at end of file diff --git a/config/dataset/data_kitti_eigen_test.yaml b/config/dataset/data_kitti_eigen_test.yaml deleted file mode 100644 index 3e13c91..0000000 --- a/config/dataset/data_kitti_eigen_test.yaml +++ /dev/null @@ -1,6 +0,0 @@ -name: kitti -disp_name: kitti_eigen_test_full -dir: kitti/kitti_eigen_split_test.tar -filenames: data_split/kitti/eigen_test_files_with_gt.txt -kitti_bm_crop: true -valid_mask_crop: eigen \ No newline at end of file diff --git a/config/dataset/data_kitti_val.yaml b/config/dataset/data_kitti_val.yaml deleted file mode 100644 index fc6c3a2..0000000 --- a/config/dataset/data_kitti_val.yaml +++ /dev/null @@ -1,6 +0,0 @@ -name: kitti -disp_name: kitti_val800_from_eigen_train -dir: kitti/kitti_sampled_val_800.tar -filenames: data_split/kitti/eigen_val_from_train_800.txt -kitti_bm_crop: true -valid_mask_crop: eigen \ No newline at end of file diff --git a/config/dataset/data_nyu_test.yaml b/config/dataset/data_nyu_test.yaml deleted file mode 100644 index 81a0f00..0000000 --- a/config/dataset/data_nyu_test.yaml +++ /dev/null @@ -1,5 +0,0 @@ -name: nyu_v2 -disp_name: nyu_test_full -dir: nyuv2/nyu_labeled_extracted.tar -filenames: data_split/nyu/labeled/filename_list_test.txt -eigen_valid_mask: true \ No newline at end of file diff --git a/config/dataset/data_nyu_train.yaml b/config/dataset/data_nyu_train.yaml deleted file mode 100644 index 185ff58..0000000 --- a/config/dataset/data_nyu_train.yaml +++ /dev/null @@ -1,5 +0,0 @@ -name: nyu_v2 -disp_name: nyu_train_full -dir: nyuv2/nyu_labeled_extracted.tar -filenames: data_split/nyu/labeled/filename_list_train.txt -eigen_valid_mask: true \ No newline at end of file diff --git a/config/dataset/data_scannet_val.yaml b/config/dataset/data_scannet_val.yaml deleted file mode 100644 index 202e70e..0000000 --- a/config/dataset/data_scannet_val.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: scannet -disp_name: scannet_val_800_1 -dir: scannet/scannet_val_sampled_800_1.tar -filenames: data_split/scannet/scannet_val_sampled_list_800_1.txt \ No newline at end of file diff --git a/config/dataset/data_vkitti_train.yaml b/config/dataset/data_vkitti_train.yaml deleted file mode 100644 index 8c089c4..0000000 --- a/config/dataset/data_vkitti_train.yaml +++ /dev/null @@ -1,6 +0,0 @@ -name: vkitti -disp_name: vkitti_train -dir: vkitti/vkitti.tar -filenames: data_split/vkitti/vkitti_train.txt -kitti_bm_crop: true -valid_mask_crop: null # no valid_mask_crop for training \ No newline at end of file diff --git a/config/dataset/data_vkitti_val.yaml b/config/dataset/data_vkitti_val.yaml deleted file mode 100644 index 257e9f1..0000000 --- a/config/dataset/data_vkitti_val.yaml +++ /dev/null @@ -1,6 +0,0 @@ -name: vkitti -disp_name: vkitti_val -dir: vkitti/vkitti.tar -filenames: data_split/vkitti/vkitti_val.txt -kitti_bm_crop: true -valid_mask_crop: eigen \ No newline at end of file diff --git a/config/dataset/dataset_train.yaml b/config/dataset/dataset_train.yaml deleted file mode 100644 index 0381948..0000000 --- a/config/dataset/dataset_train.yaml +++ /dev/null @@ -1,18 +0,0 @@ -dataset: - train: - name: mixed - prob_ls: [0.9, 0.1] - dataset_list: - - name: hypersim - disp_name: hypersim_train - dir: hypersim/hypersim_processed_train.tar - filenames: data_split/hypersim/filename_list_train_filtered.txt - resize_to_hw: - - 480 - - 640 - - name: vkitti - disp_name: vkitti_train - dir: vkitti/vkitti.tar - filenames: data_split/vkitti/vkitti_train.txt - kitti_bm_crop: true - valid_mask_crop: null \ No newline at end of file diff --git a/config/dataset/dataset_val.yaml b/config/dataset/dataset_val.yaml deleted file mode 100644 index f70d90d..0000000 --- a/config/dataset/dataset_val.yaml +++ /dev/null @@ -1,45 +0,0 @@ -dataset: - val: - # - name: hypersim - # disp_name: hypersim_val - # dir: hypersim/hypersim_processed_val.tar - # filenames: data_split/hypersim/filename_list_val_filtered.txt - # resize_to_hw: - # - 480 - # - 640 - - # - name: nyu_v2 - # disp_name: nyu_train_full - # dir: nyuv2/nyu_labeled_extracted.tar - # filenames: data_split/nyu/labeled/filename_list_train.txt - # eigen_valid_mask: true - - # - name: kitti - # disp_name: kitti_val800_from_eigen_train - # dir: kitti/kitti_sampled_val_800.tar - # filenames: data_split/kitti/eigen_val_from_train_800.txt - # kitti_bm_crop: true - # valid_mask_crop: eigen - - # Smaller subsets for faster validation during training - # The first dataset is used to calculate main eval metric. - - name: hypersim - disp_name: hypersim_val_small_80 - dir: hypersim/hypersim_processed_val.tar - filenames: data_split/hypersim/filename_list_val_filtered_small_80.txt - resize_to_hw: - - 480 - - 640 - - - name: nyu_v2 - disp_name: nyu_train_small_100 - dir: nyuv2/nyu_labeled_extracted.tar - filenames: data_split/nyu/labeled/filename_list_train_small_100.txt - eigen_valid_mask: true - - - name: kitti - disp_name: kitti_val_from_train_sub_100 - dir: kitti/kitti_sampled_val_800.tar - filenames: data_split/kitti/eigen_val_from_train_sub_100.txt - kitti_bm_crop: true - valid_mask_crop: eigen \ No newline at end of file diff --git a/config/dataset/dataset_vis.yaml b/config/dataset/dataset_vis.yaml deleted file mode 100644 index c11dc8e..0000000 --- a/config/dataset/dataset_vis.yaml +++ /dev/null @@ -1,9 +0,0 @@ -dataset: - vis: - - name: hypersim - disp_name: hypersim_vis - dir: hypersim/hypersim_processed_val.tar - filenames: data_split/hypersim/selected_vis_sample.txt - resize_to_hw: - - 480 - - 640 diff --git a/config/dataset_depth/data_diode_all.yaml b/config/dataset_depth/data_diode_all.yaml new file mode 100644 index 0000000..c2284fe --- /dev/null +++ b/config/dataset_depth/data_diode_all.yaml @@ -0,0 +1,4 @@ +name: diode_depth +disp_name: diode_depth_val_all +dir: diode/diode_val.tar +filenames: data_split/diode_depth/diode_val_all_filename_list.txt diff --git a/config/dataset_depth/data_eth3d.yaml b/config/dataset_depth/data_eth3d.yaml new file mode 100644 index 0000000..7175e2b --- /dev/null +++ b/config/dataset_depth/data_eth3d.yaml @@ -0,0 +1,4 @@ +name: eth3d_depth +disp_name: eth3d_depth_full +dir: eth3d/eth3d.tar +filenames: data_split/eth3d_depth/eth3d_filename_list.txt diff --git a/config/dataset_depth/data_hypersim_train.yaml b/config/dataset_depth/data_hypersim_train.yaml new file mode 100644 index 0000000..400e7f4 --- /dev/null +++ b/config/dataset_depth/data_hypersim_train.yaml @@ -0,0 +1,4 @@ +name: hypersim_depth +disp_name: hypersim_depth_train +dir: hypersim/hypersim_processed_train.tar +filenames: data_split/hypersim_depth/filename_list_train_filtered.txt diff --git a/config/dataset_depth/data_hypersim_val.yaml b/config/dataset_depth/data_hypersim_val.yaml new file mode 100644 index 0000000..2edd0fb --- /dev/null +++ b/config/dataset_depth/data_hypersim_val.yaml @@ -0,0 +1,4 @@ +name: hypersim_depth +disp_name: hypersim_depth_val +dir: hypersim/hypersim_processed_val.tar +filenames: data_split/hypersim_depth/filename_list_val_filtered.txt diff --git a/config/dataset_depth/data_kitti_eigen_test.yaml b/config/dataset_depth/data_kitti_eigen_test.yaml new file mode 100644 index 0000000..a2ef3f8 --- /dev/null +++ b/config/dataset_depth/data_kitti_eigen_test.yaml @@ -0,0 +1,6 @@ +name: kitti_depth +disp_name: kitti_depth_eigen_test_full +dir: kitti/kitti_eigen_split_test.tar +filenames: data_split/kitti_depth/eigen_test_files_with_gt.txt +kitti_bm_crop: true +valid_mask_crop: eigen diff --git a/config/dataset_depth/data_kitti_val.yaml b/config/dataset_depth/data_kitti_val.yaml new file mode 100644 index 0000000..68bbc54 --- /dev/null +++ b/config/dataset_depth/data_kitti_val.yaml @@ -0,0 +1,6 @@ +name: kitti_depth +disp_name: kitti_depth_val800_from_eigen_train +dir: kitti/kitti_sampled_val_800.tar +filenames: data_split/kitti_depth/eigen_val_from_train_800.txt +kitti_bm_crop: true +valid_mask_crop: eigen diff --git a/config/dataset_depth/data_nyu_test.yaml b/config/dataset_depth/data_nyu_test.yaml new file mode 100644 index 0000000..23799be --- /dev/null +++ b/config/dataset_depth/data_nyu_test.yaml @@ -0,0 +1,5 @@ +name: nyu_depth +disp_name: nyu_depth_test_full +dir: nyuv2/nyu_labeled_extracted.tar +filenames: data_split/nyu_depth/labeled/filename_list_test.txt +eigen_valid_mask: true diff --git a/config/dataset_depth/data_nyu_train.yaml b/config/dataset_depth/data_nyu_train.yaml new file mode 100644 index 0000000..d8d7e84 --- /dev/null +++ b/config/dataset_depth/data_nyu_train.yaml @@ -0,0 +1,5 @@ +name: nyu_depth +disp_name: nyu_depth_train_full +dir: nyuv2/nyu_labeled_extracted.tar +filenames: data_split/nyu_depth/labeled/filename_list_train.txt +eigen_valid_mask: true diff --git a/config/dataset_depth/data_scannet_val.yaml b/config/dataset_depth/data_scannet_val.yaml new file mode 100644 index 0000000..0e99b6c --- /dev/null +++ b/config/dataset_depth/data_scannet_val.yaml @@ -0,0 +1,4 @@ +name: scannet_depth +disp_name: scannet_depth_val_800_1 +dir: scannet/scannet_val_sampled_800_1.tar +filenames: data_split/scannet_depth/scannet_val_sampled_list_800_1.txt diff --git a/config/dataset_depth/data_vkitti_train.yaml b/config/dataset_depth/data_vkitti_train.yaml new file mode 100644 index 0000000..11aea77 --- /dev/null +++ b/config/dataset_depth/data_vkitti_train.yaml @@ -0,0 +1,6 @@ +name: vkitti_depth +disp_name: vkitti_depth_train +dir: vkitti/vkitti.tar +filenames: data_split/vkitti_depth/vkitti_train.txt +kitti_bm_crop: true +valid_mask_crop: null # no valid_mask_crop for training diff --git a/config/dataset_depth/data_vkitti_val.yaml b/config/dataset_depth/data_vkitti_val.yaml new file mode 100644 index 0000000..1c9862b --- /dev/null +++ b/config/dataset_depth/data_vkitti_val.yaml @@ -0,0 +1,6 @@ +name: vkitti_depth +disp_name: vkitti_depth_val +dir: vkitti/vkitti.tar +filenames: data_split/vkitti_depth/vkitti_val.txt +kitti_bm_crop: true +valid_mask_crop: eigen diff --git a/config/dataset_depth/dataset_train.yaml b/config/dataset_depth/dataset_train.yaml new file mode 100644 index 0000000..214b3f2 --- /dev/null +++ b/config/dataset_depth/dataset_train.yaml @@ -0,0 +1,18 @@ +dataset: + train: + name: mixed + prob_ls: [0.9, 0.1] + dataset_list: + - name: hypersim_depth + disp_name: hypersim_depth_train + dir: hypersim/hypersim_processed_train.tar + filenames: data_split/hypersim_depth/filename_list_train_filtered.txt + resize_to_hw: + - 480 + - 640 + - name: vkitti_depth + disp_name: vkitti_depth_train + dir: vkitti/vkitti.tar + filenames: data_split/vkitti_depth/vkitti_train.txt + kitti_bm_crop: true + valid_mask_crop: null diff --git a/config/dataset_depth/dataset_val.yaml b/config/dataset_depth/dataset_val.yaml new file mode 100644 index 0000000..67207c0 --- /dev/null +++ b/config/dataset_depth/dataset_val.yaml @@ -0,0 +1,45 @@ +dataset: + val: + # - name: hypersim_depth + # disp_name: hypersim_depth_val + # dir: hypersim/hypersim_processed_val.tar + # filenames: data_split/hypersim_depth/filename_list_val_filtered.txt + # resize_to_hw: + # - 480 + # - 640 + + # - name: nyu_depth + # disp_name: nyu_depth_train_full + # dir: nyuv2/nyu_labeled_extracted.tar + # filenames: data_split/nyu_depth/labeled/filename_list_train.txt + # eigen_valid_mask: true + + # - name: kitti_depth + # disp_name: kitti_depth_val800_from_eigen_train + # dir: kitti/kitti_depth_sampled_val_800.tar + # filenames: data_split/kitti_depth/eigen_val_from_train_800.txt + # kitti_bm_crop: true + # valid_mask_crop: eigen + + # Smaller subsets for faster validation during training + # The first dataset is used to calculate main eval metric. + - name: hypersim_depth + disp_name: hypersim_depth_val_small_80 + dir: hypersim/hypersim_processed_val.tar + filenames: data_split/hypersim_depth/filename_list_val_filtered_small_80.txt + resize_to_hw: + - 480 + - 640 + + - name: nyu_depth + disp_name: nyu_depth_train_small_100 + dir: nyuv2/nyu_labeled_extracted.tar + filenames: data_split/nyu_depth/labeled/filename_list_train_small_100.txt + eigen_valid_mask: true + + - name: kitti_depth + disp_name: kitti_depth_val_from_train_sub_100 + dir: kitti/kitti_sampled_val_800.tar + filenames: data_split/kitti_depth/eigen_val_from_train_sub_100.txt + kitti_bm_crop: true + valid_mask_crop: eigen diff --git a/config/dataset_depth/dataset_vis.yaml b/config/dataset_depth/dataset_vis.yaml new file mode 100644 index 0000000..9b1dd23 --- /dev/null +++ b/config/dataset_depth/dataset_vis.yaml @@ -0,0 +1,9 @@ +dataset: + vis: + - name: hypersim_depth + disp_name: hypersim_depth_vis + dir: hypersim/hypersim_processed_val.tar + filenames: data_split/hypersim_depth/selected_vis_sample.txt + resize_to_hw: + - 480 + - 640 diff --git a/config/dataset_iid/data_appearance_interiorverse_test.yaml b/config/dataset_iid/data_appearance_interiorverse_test.yaml new file mode 100644 index 0000000..26e1d6c --- /dev/null +++ b/config/dataset_iid/data_appearance_interiorverse_test.yaml @@ -0,0 +1,4 @@ +name: interiorverse_iid +disp_name: interiorverse_iid_appearance_test +dir: interiorverse/InteriorVerse.tar +filenames: data_split/interiorverse_iid/interiorverse_test_scenes_85.txt diff --git a/config/dataset_iid/data_lighting_hypersim_test.yaml b/config/dataset_iid/data_lighting_hypersim_test.yaml new file mode 100644 index 0000000..8a6a677 --- /dev/null +++ b/config/dataset_iid/data_lighting_hypersim_test.yaml @@ -0,0 +1,4 @@ +name: hypersim_iid +disp_name: hypersim_iid_lighting_test +dir: hypersim +filenames: data_split/hypersim_iid/hypersim_test.txt diff --git a/config/dataset_iid/dataset_appearance_train.yaml b/config/dataset_iid/dataset_appearance_train.yaml new file mode 100644 index 0000000..1a36546 --- /dev/null +++ b/config/dataset_iid/dataset_appearance_train.yaml @@ -0,0 +1,9 @@ +dataset: + train: + name: mixed + prob_ls: [1.0] + dataset_list: + - name: interiorverse_iid + disp_name: interiorverse_iid_appearance_train + dir: interiorverse/InteriorVerse.tar + filenames: data_split/interiorverse_iid/interiorverse_train_scenes_85.txt diff --git a/config/dataset_iid/dataset_appearance_val.yaml b/config/dataset_iid/dataset_appearance_val.yaml new file mode 100644 index 0000000..7b7c45a --- /dev/null +++ b/config/dataset_iid/dataset_appearance_val.yaml @@ -0,0 +1,6 @@ +dataset: + val: + - name: interiorverse_iid + disp_name: interiorverse_iid_appearance_val + dir: interiorverse/InteriorVerse.tar + filenames: data_split/interiorverse_iid/interiorverse_val_scenes_85_small.txt diff --git a/config/dataset_iid/dataset_appearance_vis.yaml b/config/dataset_iid/dataset_appearance_vis.yaml new file mode 100644 index 0000000..34d2224 --- /dev/null +++ b/config/dataset_iid/dataset_appearance_vis.yaml @@ -0,0 +1,6 @@ +dataset: + vis: + - name: interiorverse_iid + disp_name: interiorverse_iid_appearance_vis + dir: interiorverse/InteriorVerse.tar + filenames: data_split/interiorverse_iid/interiorverse_vis_scenes_85.txt diff --git a/config/dataset_iid/dataset_lighting_train.yaml b/config/dataset_iid/dataset_lighting_train.yaml new file mode 100644 index 0000000..031c622 --- /dev/null +++ b/config/dataset_iid/dataset_lighting_train.yaml @@ -0,0 +1,12 @@ +dataset: + train: + name: mixed + prob_ls: [1.0] + dataset_list: + - name: hypersim_iid + disp_name: hypersim_iid_lighting_train + dir: hypersim + filenames: data_split/hypersim_iid/hypersim_train_filtered.txt + resize_to_hw: + - 480 + - 640 \ No newline at end of file diff --git a/config/dataset_iid/dataset_lighting_val.yaml b/config/dataset_iid/dataset_lighting_val.yaml new file mode 100644 index 0000000..58e2da3 --- /dev/null +++ b/config/dataset_iid/dataset_lighting_val.yaml @@ -0,0 +1,6 @@ +dataset: + val: + - name: hypersim_iid + disp_name: hypersim_iid_lighting_val + dir: hypersim + filenames: data_split/hypersim_iid/hypersim_val.txt diff --git a/config/dataset_iid/dataset_lighting_vis.yaml b/config/dataset_iid/dataset_lighting_vis.yaml new file mode 100644 index 0000000..70608ae --- /dev/null +++ b/config/dataset_iid/dataset_lighting_vis.yaml @@ -0,0 +1,6 @@ +dataset: + vis: + - name: hypersim_iid + disp_name: hypersim_iid_lighting_vis + dir: hypersim + filenames: data_split/hypersim_iid/hypersim_vis.txt diff --git a/config/dataset_normals/data_diode_test.yaml b/config/dataset_normals/data_diode_test.yaml new file mode 100644 index 0000000..b8de2bb --- /dev/null +++ b/config/dataset_normals/data_diode_test.yaml @@ -0,0 +1,4 @@ +name: diode_normals +disp_name: diode_normals_test +dir: diode/val +filenames: data_split/diode_normals/diode_test.txt diff --git a/config/dataset_normals/data_ibims_test.yaml b/config/dataset_normals/data_ibims_test.yaml new file mode 100644 index 0000000..41e43ec --- /dev/null +++ b/config/dataset_normals/data_ibims_test.yaml @@ -0,0 +1,4 @@ +name: ibims_normals +disp_name: ibims_normals_test +dir: ibims/ibims +filenames: data_split/ibims_normals/ibims_test.txt diff --git a/config/dataset_normals/data_nyu_test.yaml b/config/dataset_normals/data_nyu_test.yaml new file mode 100644 index 0000000..13263dd --- /dev/null +++ b/config/dataset_normals/data_nyu_test.yaml @@ -0,0 +1,4 @@ +name: nyu_normals +disp_name: nyu_normals_test +dir: nyuv2/test +filenames: data_split/nyu_normals/nyuv2_test.txt diff --git a/config/dataset_normals/data_oasis_test.yaml b/config/dataset_normals/data_oasis_test.yaml new file mode 100644 index 0000000..d00eb6d --- /dev/null +++ b/config/dataset_normals/data_oasis_test.yaml @@ -0,0 +1,4 @@ +name: oasis_normals +disp_name: oasis_normals_test +dir: oasis/val +filenames: data_split/oasis_normals/oasis_test.txt diff --git a/config/dataset_normals/data_scannet_test.yaml b/config/dataset_normals/data_scannet_test.yaml new file mode 100644 index 0000000..28d6e00 --- /dev/null +++ b/config/dataset_normals/data_scannet_test.yaml @@ -0,0 +1,4 @@ +name: scannet_normals +disp_name: scannet_normals_test +dir: scannet +filenames: data_split/scannet_normals/scannet_test.txt diff --git a/config/dataset_normals/dataset_train.yaml b/config/dataset_normals/dataset_train.yaml new file mode 100644 index 0000000..053f252 --- /dev/null +++ b/config/dataset_normals/dataset_train.yaml @@ -0,0 +1,25 @@ +dataset: + train: + name: mixed + prob_ls: [0.5, 0.49, 0.01] + dataset_list: + - name: hypersim_normals + disp_name: hypersim_normals_train + dir: hypersim + filenames: data_split/hypersim_normals/hypersim_filtered_all.txt + resize_to_hw: + - 480 + - 640 + - name: interiorverse_normals + disp_name: interiorverse_normals_train + dir: interiorverse/scenes_85 + filenames: data_split/interiorverse_normals/interiorverse_filtered_all.txt + resize_to_hw: null + - name: sintel_normals + disp_name: sintel_normals_train + dir: sintel + filenames: data_split/sintel_normals/sintel_filtered.txt + resize_to_hw: + - 480 + - 640 + center_crop: true diff --git a/config/dataset_normals/dataset_val.yaml b/config/dataset_normals/dataset_val.yaml new file mode 100644 index 0000000..b4a23d6 --- /dev/null +++ b/config/dataset_normals/dataset_val.yaml @@ -0,0 +1,7 @@ +dataset: + val: + - name: hypersim_normals + disp_name: hypersim_normals_val_small_100 + dir: hypersim + filenames: data_split/hypersim_normals/hypersim_filtered_val_100.txt + resize_to_hw: null diff --git a/config/dataset_normals/dataset_vis.yaml b/config/dataset_normals/dataset_vis.yaml new file mode 100644 index 0000000..6ff8050 --- /dev/null +++ b/config/dataset_normals/dataset_vis.yaml @@ -0,0 +1,7 @@ +dataset: + vis: + - name: hypersim_normals + disp_name: hypersim_normals_vis + dir: hypersim + filenames: data_split/hypersim_normals/hypersim_filtered_vis_20.txt + resize_to_hw: null diff --git a/config/model_sdv2.yaml b/config/model_sdv2.yaml index ce58c5e..4fb7021 100644 --- a/config/model_sdv2.yaml +++ b/config/model_sdv2.yaml @@ -1,4 +1,4 @@ model: name: marigold_pipeline pretrained_path: stable-diffusion-2 - latent_scale_factor: 0.18215 \ No newline at end of file + latent_scale_factor: 0.18215 diff --git a/config/train_debug.yaml b/config/train_debug_depth.yaml similarity index 63% rename from config/train_debug.yaml rename to config/train_debug_depth.yaml index 7c21ed1..ba4ddfa 100644 --- a/config/train_debug.yaml +++ b/config/train_debug_depth.yaml @@ -1,12 +1,10 @@ base_config: -- config/train_marigold.yaml + - config/train_marigold_depth.yaml - -# Training settings trainer: save_period: 5 backup_period: 10 validation_period: 5 visualization_period: 5 -max_iter: 50 \ No newline at end of file +max_iter: 50 diff --git a/config/train_debug_iid.yaml b/config/train_debug_iid.yaml new file mode 100644 index 0000000..b8b95c0 --- /dev/null +++ b/config/train_debug_iid.yaml @@ -0,0 +1,11 @@ +base_config: + # - config/train_marigold_iid_lighting.yaml + - config/train_marigold_iid_appearance.yaml + +trainer: + save_period: 10 + backup_period: 10 + validation_period: 5 + visualization_period: 5 + +max_iter: 50 diff --git a/config/train_debug_normals.yaml b/config/train_debug_normals.yaml new file mode 100644 index 0000000..dcfb4e1 --- /dev/null +++ b/config/train_debug_normals.yaml @@ -0,0 +1,10 @@ +base_config: + - config/train_marigold_normals.yaml + +trainer: + save_period: 5 + backup_period: 10 + validation_period: 5 + visualization_period: 5 + +max_iter: 50 diff --git a/config/train_marigold.yaml b/config/train_marigold_depth.yaml similarity index 78% rename from config/train_marigold.yaml rename to config/train_marigold_depth.yaml index defb4c7..f35828b 100644 --- a/config/train_marigold.yaml +++ b/config/train_marigold_depth.yaml @@ -1,17 +1,18 @@ base_config: - config/logging.yaml - config/wandb.yaml -- config/dataset/dataset_train.yaml -- config/dataset/dataset_val.yaml -- config/dataset/dataset_vis.yaml +- config/dataset_depth/dataset_train.yaml +- config/dataset_depth/dataset_val.yaml +- config/dataset_depth/dataset_vis.yaml - config/model_sdv2.yaml - pipeline: - name: MarigoldPipeline + name: MarigoldDepthPipeline kwargs: scale_invariant: true shift_invariant: true + default_denoising_steps: 4 + default_processing_resolution: 768 depth_normalization: type: scale_shift_depth @@ -29,16 +30,15 @@ dataloader: max_train_batch_size: 2 seed: 2024 # to ensure continuity when resuming from checkpoint -# Training settings trainer: - name: MarigoldTrainer + name: MarigoldDepthTrainer training_noise_scheduler: pretrained_path: stable-diffusion-2 init_seed: 2024 # use null to train w/o seeding save_period: 50 backup_period: 2000 - validation_period: 2000 - visualization_period: 2000 + validation_period: 500 + visualization_period: 1000 multi_res_noise: strength: 0.9 @@ -67,10 +67,10 @@ lr_scheduler: final_ratio: 0.01 warmup_steps: 100 -# Validation (and visualization) settings +# Light setting for the in-training validation and visualization validation: - denoising_steps: 50 - ensemble_size: 1 # simplified setting for on-training validation + denoising_steps: 1 + ensemble_size: 1 processing_res: 0 match_input_res: false resample_method: bilinear diff --git a/config/train_marigold_iid_appearance.yaml b/config/train_marigold_iid_appearance.yaml new file mode 100644 index 0000000..0dc534b --- /dev/null +++ b/config/train_marigold_iid_appearance.yaml @@ -0,0 +1,94 @@ +base_config: +- config/logging.yaml +- config/wandb.yaml +- config/dataset_iid/dataset_appearance_train.yaml +- config/dataset_iid/dataset_appearance_val.yaml +- config/dataset_iid/dataset_appearance_vis.yaml +- config/model_sdv2.yaml + +pipeline: + name: MarigoldIIDPipeline + kwargs: + default_denoising_steps: 4 + default_processing_resolution: 768 + target_properties: + target_names: + - albedo + - material + albedo: + prediction_space: srgb + material: + prediction_space: stack + sub_target_names: + - roughness + - metallicity + - null + roughness: + prediction_space: linear + up_to_scale: false + metallicity: + prediction_space: linear + up_to_scale: false + +augmentation: + lr_flip_p: 0.5 + +dataloader: + num_workers: 2 + effective_batch_size: 32 + max_train_batch_size: 2 + seed: 2024 # to ensure continuity when resuming from checkpoint + +trainer: + name: MarigoldIIDTrainer + training_noise_scheduler: + pretrained_path: stable-diffusion-2 + init_seed: 2024 # use null to train w/o seeding + save_period: 50 + backup_period: 2000 + validation_period: 500 + visualization_period: 1000 + +multi_res_noise: + strength: 0.9 + annealed: true + downscale_strategy: original + +gt_mask_type: mask + +max_epoch: 10000 # a large enough number +max_iter: 50000 # usually converges at around 40k + +optimizer: + name: Adam + +loss: + name: mse_loss + kwargs: + reduction: mean + +lr: 3.0e-05 +lr_scheduler: + name: IterExponential + kwargs: + total_iter: 25000 + final_ratio: 0.01 + warmup_steps: 100 + +# Light setting for the in-training validation and visualization +validation: + denoising_steps: 4 + ensemble_size: 1 + processing_res: 0 + match_input_res: true + resample_method: bilinear + main_val_metric: psnr + main_val_metric_goal: minimize + init_seed: 2024 + use_mask: false + +eval: + eval_metrics: + - psnr + targets_to_eval_in_linear_space: + - material diff --git a/config/train_marigold_iid_lighting.yaml b/config/train_marigold_iid_lighting.yaml new file mode 100644 index 0000000..6f80b0c --- /dev/null +++ b/config/train_marigold_iid_lighting.yaml @@ -0,0 +1,90 @@ +base_config: +- config/logging.yaml +- config/wandb.yaml +- config/dataset_iid/dataset_lighting_train.yaml +- config/dataset_iid/dataset_lighting_val.yaml +- config/dataset_iid/dataset_lighting_vis.yaml +- config/model_sdv2.yaml + +pipeline: + name: MarigoldIIDPipeline + kwargs: + default_denoising_steps: 4 + default_processing_resolution: 768 + target_properties: + target_names: + - albedo + - shading + - residual + albedo: + prediction_space: linear + up_to_scale: false + shading: + prediction_space: linear + up_to_scale: true + residual: + prediction_space: linear + up_to_scale: true + +augmentation: + lr_flip_p: 0.5 + +dataloader: + num_workers: 2 + effective_batch_size: 32 + max_train_batch_size: 2 + seed: 2024 # to ensure continuity when resuming from checkpoint + +trainer: + name: MarigoldIIDTrainer + training_noise_scheduler: + pretrained_path: stable-diffusion-2 + init_seed: 2024 # use null to train w/o seeding + save_period: 50 + backup_period: 2000 + validation_period: 500 + visualization_period: 1000 + +multi_res_noise: + strength: 0.9 + annealed: true + downscale_strategy: original + +gt_mask_type: null + +max_epoch: 10000 # a large enough number +max_iter: 50000 # usually converges at around 34k + +optimizer: + name: Adam + +loss: + name: mse_loss + kwargs: + reduction: mean + +lr: 8e-05 +lr_scheduler: + name: IterExponential + kwargs: + total_iter: 45000 + final_ratio: 0.01 + warmup_steps: 100 + +# Light setting for the in-training validation and visualization +validation: + denoising_steps: 4 + ensemble_size: 1 + processing_res: 0 + match_input_res: true + resample_method: bilinear + main_val_metric: psnr + main_val_metric_goal: minimize + init_seed: 2024 + use_mask: true + +eval: + eval_metrics: + - psnr + targets_to_eval_in_linear_space: + - None # outputs are already in linear space, no transform needed diff --git a/config/train_marigold_normals.yaml b/config/train_marigold_normals.yaml new file mode 100644 index 0000000..0a3a321 --- /dev/null +++ b/config/train_marigold_normals.yaml @@ -0,0 +1,86 @@ +base_config: +- config/logging.yaml +- config/wandb.yaml +- config/dataset_normals/dataset_train.yaml +- config/dataset_normals/dataset_val.yaml +- config/dataset_normals/dataset_vis.yaml +- config/model_sdv2.yaml + +pipeline: + name: MarigoldNormalsPipeline + kwargs: + default_denoising_steps: 4 + default_processing_resolution: 768 + +augmentation: + lr_flip_p: 0.5 + color_jitter_p: 0.3 + gaussian_blur_p: 0.3 + motion_blur_p: 0.3 + gaussian_blur_sigma: 4 + motion_blur_kernel_size: 11 + motion_blur_angle_range: 360 + jitter_brightness_factor: 0.5 + jitter_contrast_factor: 0.5 + jitter_saturation_factor: 0.5 + jitter_hue_factor: 0.2 + +dataloader: + num_workers: 2 + effective_batch_size: 32 + max_train_batch_size: 2 + seed: 2024 # to ensure continuity when resuming from checkpoint + +trainer: + name: MarigoldNormalsTrainer + training_noise_scheduler: + pretrained_path: stable-diffusion-2 + init_seed: 2024 # use null to train w/o seeding + save_period: 50 + backup_period: 2000 + validation_period: 500 + visualization_period: 1000 + +multi_res_noise: + strength: 0.9 + annealed: true + downscale_strategy: original + +gt_normals_type: normals +gt_mask_type: null + +max_epoch: 10000 # a large enough number +max_iter: 30000 # usually converges at around 26k + +optimizer: + name: Adam + +loss: + name: mse_loss + kwargs: + reduction: mean + +lr: 6.0e-05 +lr_scheduler: + name: IterExponential + kwargs: + total_iter: 25000 + final_ratio: 0.01 + warmup_steps: 100 + +# Light setting for the in-training validation and visualization +validation: + denoising_steps: 4 + ensemble_size: 1 + processing_res: 768 + match_input_res: true + resample_method: bilinear + main_val_metric: mean_angular_error + main_val_metric_goal: minimize + init_seed: 0 + +eval: + align_max_res: null + eval_metrics: + - mean_angular_error + - sub11_25_error diff --git a/config/wandb.yaml b/config/wandb.yaml index 5631cfb..1840d26 100644 --- a/config/wandb.yaml +++ b/config/wandb.yaml @@ -1,3 +1,3 @@ wandb: # entity: your_entity - project: marigold \ No newline at end of file + project: marigold diff --git a/data_split/diode/diode_val_all_filename_list.txt b/data_split/diode_depth/diode_val_all_filename_list.txt similarity index 100% rename from data_split/diode/diode_val_all_filename_list.txt rename to data_split/diode_depth/diode_val_all_filename_list.txt diff --git a/data_split/diode/diode_val_indoor_filename_list.txt b/data_split/diode_depth/diode_val_indoor_filename_list.txt similarity index 100% rename from data_split/diode/diode_val_indoor_filename_list.txt rename to data_split/diode_depth/diode_val_indoor_filename_list.txt diff --git a/data_split/diode/diode_val_outdoor_filename_list.txt b/data_split/diode_depth/diode_val_outdoor_filename_list.txt similarity index 100% rename from data_split/diode/diode_val_outdoor_filename_list.txt rename to data_split/diode_depth/diode_val_outdoor_filename_list.txt diff --git a/data_split/diode_normals/diode_test.txt b/data_split/diode_normals/diode_test.txt new file mode 100644 index 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+0,0 @@ -name: marigold -channels: - - conda-forge - - nvidia - - pytorch -dependencies: - - accelerate>=0.22.0 - - diffusers>=0.25.0 - - matplotlib>=3.8.2 - - scipy>=1.11.4 - - python=3.10.12 - - pytorch=2.4.0 - - pytorch-cuda=11.7 - - torchvision=0.19.0 - - pip: - - transformers>=4.32.1 diff --git a/marigold/__init__.py b/marigold/__init__.py index c32ac37..47d2556 100644 --- a/marigold/__init__.py +++ b/marigold/__init__.py @@ -1,4 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -12,10 +12,30 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +from .marigold_depth_pipeline import ( + MarigoldDepthPipeline, + MarigoldDepthOutput, # noqa: F401 +) +from .marigold_iid_pipeline import MarigoldIIDPipeline, MarigoldIIDOutput # noqa: F401 +from .marigold_normals_pipeline import ( + MarigoldNormalsPipeline, # noqa: F401 + MarigoldNormalsOutput, # noqa: F401 +) -from .marigold_pipeline import MarigoldPipeline, MarigoldDepthOutput # noqa: F401 +MarigoldPipeline = MarigoldDepthPipeline # for backward compatibility diff --git a/marigold/marigold_pipeline.py b/marigold/marigold_depth_pipeline.py similarity index 78% rename from marigold/marigold_pipeline.py rename to marigold/marigold_depth_pipeline.py index 9410b32..3dc4f48 100644 --- a/marigold/marigold_pipeline.py +++ b/marigold/marigold_depth_pipeline.py @@ -1,5 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. -# Last modified: 2024-05-24 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -13,17 +12,26 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - import logging -from typing import Dict, Optional, Union - import numpy as np import torch +from PIL import Image from diffusers import ( AutoencoderKL, DDIMScheduler, @@ -32,12 +40,12 @@ UNet2DConditionModel, ) from diffusers.utils import BaseOutput -from PIL import Image from torch.utils.data import DataLoader, TensorDataset from torchvision.transforms import InterpolationMode from torchvision.transforms.functional import pil_to_tensor, resize from tqdm.auto import tqdm from transformers import CLIPTextModel, CLIPTokenizer +from typing import Dict, Optional, Union from .util.batchsize import find_batch_size from .util.ensemble import ensemble_depth @@ -51,13 +59,13 @@ class MarigoldDepthOutput(BaseOutput): """ - Output class for Marigold monocular depth prediction pipeline. + Output class for Marigold Monocular Depth Estimation pipeline. Args: depth_np (`np.ndarray`): Predicted depth map, with depth values in the range of [0, 1]. depth_colored (`PIL.Image.Image`): - Colorized depth map, with the shape of [3, H, W] and values in [0, 1]. + Colorized depth map, with the shape of [H, W, 3] and values in [0, 255]. uncertainty (`None` or `np.ndarray`): Uncalibrated uncertainty(MAD, median absolute deviation) coming from ensembling. """ @@ -67,18 +75,18 @@ class MarigoldDepthOutput(BaseOutput): uncertainty: Union[None, np.ndarray] -class MarigoldPipeline(DiffusionPipeline): +class MarigoldDepthPipeline(DiffusionPipeline): """ - Pipeline for monocular depth estimation using Marigold: https://marigoldmonodepth.github.io. + Pipeline for Marigold Monocular Depth Estimation: https://marigoldcomputervision.github.io. This model inherits from [`DiffusionPipeline`]. Check the superclass documentation for the generic methods the library implements for all the pipelines (such as downloading or saving, running on a particular device, etc.) Args: unet (`UNet2DConditionModel`): - Conditional U-Net to denoise the depth latent, conditioned on image latent. + Conditional U-Net to denoise the prediction latent, conditioned on image latent. vae (`AutoencoderKL`): - Variational Auto-Encoder (VAE) Model to encode and decode images and depth maps + Variational Auto-Encoder (VAE) Model to encode and decode images and predictions to and from latent representations. scheduler (`DDIMScheduler`): A scheduler to be used in combination with `unet` to denoise the encoded image latents. @@ -107,8 +115,7 @@ class MarigoldPipeline(DiffusionPipeline): with varying optimal processing resolution values. """ - rgb_latent_scale_factor = 0.18215 - depth_latent_scale_factor = 0.18215 + latent_scale_factor = 0.18215 def __init__( self, @@ -149,7 +156,7 @@ def __call__( self, input_image: Union[Image.Image, torch.Tensor], denoising_steps: Optional[int] = None, - ensemble_size: int = 5, + ensemble_size: int = 1, processing_res: Optional[int] = None, match_input_res: bool = True, resample_method: str = "bilinear", @@ -167,19 +174,19 @@ def __call__( Input RGB (or gray-scale) image. denoising_steps (`int`, *optional*, defaults to `None`): Number of denoising diffusion steps during inference. The default value `None` results in automatic - selection. The number of steps should be at least 10 with the full Marigold models, and between 1 and 4 - for Marigold-LCM models. - ensemble_size (`int`, *optional*, defaults to `10`): + selection. + ensemble_size (`int`, *optional*, defaults to `1`): Number of predictions to be ensembled. processing_res (`int`, *optional*, defaults to `None`): Effective processing resolution. When set to `0`, processes at the original image resolution. This produces crisper predictions, but may also lead to the overall loss of global context. The default value `None` resolves to the optimal value from the model config. match_input_res (`bool`, *optional*, defaults to `True`): - Resize depth prediction to match input resolution. + Resize the prediction to match the input resolution. Only valid if `processing_res` > 0. resample_method: (`str`, *optional*, defaults to `bilinear`): - Resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic` or `nearest`, defaults to: `bilinear`. + Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or + `nearest`, defaults to: `bilinear`. batch_size (`int`, *optional*, defaults to `0`): Inference batch size, no bigger than `num_ensemble`. If set to 0, the script will automatically decide the proper batch size. @@ -192,13 +199,14 @@ def __call__( scale_invariant (`str`, *optional*, defaults to `True`): Flag of scale-invariant prediction, if True, scale will be adjusted from the raw prediction. shift_invariant (`str`, *optional*, defaults to `True`): - Flag of shift-invariant prediction, if True, shift will be adjusted from the raw prediction, if False, near plane will be fixed at 0m. + Flag of shift-invariant prediction, if True, shift will be adjusted from the raw prediction, if False, + near plane will be fixed at 0m. ensemble_kwargs (`dict`, *optional*, defaults to `None`): Arguments for detailed ensembling settings. Returns: `MarigoldDepthOutput`: Output class for Marigold monocular depth prediction pipeline, including: - - **depth_np** (`np.ndarray`) Predicted depth map, with depth values in the range of [0, 1] - - **depth_colored** (`PIL.Image.Image`) Colorized depth map, with the shape of [3, H, W] and values in [0, 1], None if `color_map` is `None` + - **depth_np** (`np.ndarray`) Predicted depth map with depth values in the range of [0, 1] + - **depth_colored** (`PIL.Image.Image`) Colorized depth map, with the shape of [H, W, 3] and values in [0, 255], None if `color_map` is `None` - **uncertainty** (`None` or `np.ndarray`) Uncalibrated uncertainty(MAD, median absolute deviation) coming from ensembling. None if `ensemble_size = 1` """ @@ -228,9 +236,9 @@ def __call__( else: raise TypeError(f"Unknown input type: {type(input_image) = }") input_size = rgb.shape - assert ( - 4 == rgb.dim() and 3 == input_size[-3] - ), f"Wrong input shape {input_size}, expected [1, rgb, H, W]" + assert 4 == rgb.dim() and 3 == input_size[-3], ( + f"Wrong input shape {input_size}, expected [1, rgb, H, W]" + ) # Resize image if processing_res > 0: @@ -263,7 +271,7 @@ def __call__( ) # Predict depth maps (batched) - depth_pred_ls = [] + target_pred_ls = [] if show_progress_bar: iterable = tqdm( single_rgb_loader, desc=" " * 2 + "Inference batches", leave=False @@ -272,51 +280,50 @@ def __call__( iterable = single_rgb_loader for batch in iterable: (batched_img,) = batch - depth_pred_raw = self.single_infer( + target_pred_raw = self.single_infer( rgb_in=batched_img, num_inference_steps=denoising_steps, show_pbar=show_progress_bar, generator=generator, ) - depth_pred_ls.append(depth_pred_raw.detach()) - depth_preds = torch.concat(depth_pred_ls, dim=0) + target_pred_ls.append(target_pred_raw.detach()) + target_preds = torch.concat(target_pred_ls, dim=0) torch.cuda.empty_cache() # clear vram cache for ensembling # ----------------- Test-time ensembling ----------------- if ensemble_size > 1: - depth_pred, pred_uncert = ensemble_depth( - depth_preds, + final_pred, pred_uncert = ensemble_depth( + target_preds, scale_invariant=self.scale_invariant, shift_invariant=self.shift_invariant, - max_res=50, **(ensemble_kwargs or {}), ) else: - depth_pred = depth_preds + final_pred = target_preds pred_uncert = None # Resize back to original resolution if match_input_res: - depth_pred = resize( - depth_pred, + final_pred = resize( + final_pred, input_size[-2:], interpolation=resample_method, antialias=True, ) # Convert to numpy - depth_pred = depth_pred.squeeze() - depth_pred = depth_pred.cpu().numpy() + final_pred = final_pred.squeeze() + final_pred = final_pred.cpu().numpy() if pred_uncert is not None: pred_uncert = pred_uncert.squeeze().cpu().numpy() # Clip output range - depth_pred = depth_pred.clip(0, 1) + final_pred = final_pred.clip(0, 1) # Colorize if color_map is not None: depth_colored = colorize_depth_maps( - depth_pred, 0, 1, cmap=color_map + final_pred, 0, 1, cmap=color_map ).squeeze() # [3, H, W], value in (0, 1) depth_colored = (depth_colored * 255).astype(np.uint8) depth_colored_hwc = chw2hwc(depth_colored) @@ -325,7 +332,7 @@ def __call__( depth_colored_img = None return MarigoldDepthOutput( - depth_np=depth_pred, + depth_np=final_pred, depth_colored=depth_colored_img, uncertainty=pred_uncert, ) @@ -339,14 +346,34 @@ def _check_inference_step(self, n_step: int) -> None: assert n_step >= 1 if isinstance(self.scheduler, DDIMScheduler): - if n_step < 10: + if "trailing" != self.scheduler.config.timestep_spacing: logging.warning( - f"Too few denoising steps: {n_step}. Recommended to use the LCM checkpoint for few-step inference." + f"The loaded `DDIMScheduler` is configured with `timestep_spacing=" + f'"{self.scheduler.config.timestep_spacing}"`; the recommended setting is `"trailing"`. ' + f"This change is backward-compatible and yields better results. " + f"Consider using `prs-eth/marigold-depth-v1-1` for the best experience." + ) + else: + if n_step > 10: + logging.warning( + f"Setting too many denoising steps ({n_step}) may degrade the prediction; consider relying on " + f"the default values." + ) + if not self.scheduler.config.rescale_betas_zero_snr: + logging.warning( + f"The loaded `DDIMScheduler` is configured with `rescale_betas_zero_snr=" + f"{self.scheduler.config.rescale_betas_zero_snr}`; the recommended setting is True. " + f"Consider using `prs-eth/marigold-depth-v1-1` for the best experience." ) elif isinstance(self.scheduler, LCMScheduler): - if not 1 <= n_step <= 4: + logging.warning( + "DeprecationWarning: LCMScheduler will not be supported in the future. " + "Consider using `prs-eth/marigold-depth-v1-1` for the best experience." + ) + if n_step > 10: logging.warning( - f"Non-optimal setting of denoising steps: {n_step}. Recommended setting is 1-4 steps." + f"Setting too many denoising steps ({n_step}) may degrade the prediction; consider relying on " + f"the default values." ) else: raise RuntimeError(f"Unsupported scheduler type: {type(self.scheduler)}") @@ -375,7 +402,7 @@ def single_infer( show_pbar: bool, ) -> torch.Tensor: """ - Perform an individual depth prediction without ensembling. + Perform a single prediction without ensembling. Args: rgb_in (`torch.Tensor`): @@ -387,7 +414,7 @@ def single_infer( generator (`torch.Generator`) Random generator for initial noise generation. Returns: - `torch.Tensor`: Predicted depth map. + `torch.Tensor`: Predicted targets. """ device = self.device rgb_in = rgb_in.to(device) @@ -397,10 +424,10 @@ def single_infer( timesteps = self.scheduler.timesteps # [T] # Encode image - rgb_latent = self.encode_rgb(rgb_in) + rgb_latent = self.encode_rgb(rgb_in) # [B, 4, h, w] - # Initial depth map (noise) - depth_latent = torch.randn( + # Noisy latent for outputs + target_latent = torch.randn( rgb_latent.shape, device=device, dtype=self.dtype, @@ -427,7 +454,7 @@ def single_infer( for i, t in iterable: unet_input = torch.cat( - [rgb_latent, depth_latent], dim=1 + [rgb_latent, target_latent], dim=1 ) # this order is important # predict the noise residual @@ -436,11 +463,11 @@ def single_infer( ).sample # [B, 4, h, w] # compute the previous noisy sample x_t -> x_t-1 - depth_latent = self.scheduler.step( - noise_pred, t, depth_latent, generator=generator + target_latent = self.scheduler.step( + noise_pred, t, target_latent, generator=generator ).prev_sample - depth = self.decode_depth(depth_latent) + depth = self.decode_depth(target_latent) # [B,3,H,W] # clip prediction depth = torch.clip(depth, -1.0, 1.0) @@ -465,7 +492,7 @@ def encode_rgb(self, rgb_in: torch.Tensor) -> torch.Tensor: moments = self.vae.quant_conv(h) mean, logvar = torch.chunk(moments, 2, dim=1) # scale latent - rgb_latent = mean * self.rgb_latent_scale_factor + rgb_latent = mean * self.latent_scale_factor return rgb_latent def decode_depth(self, depth_latent: torch.Tensor) -> torch.Tensor: @@ -480,7 +507,7 @@ def decode_depth(self, depth_latent: torch.Tensor) -> torch.Tensor: `torch.Tensor`: Decoded depth map. """ # scale latent - depth_latent = depth_latent / self.depth_latent_scale_factor + depth_latent = depth_latent / self.latent_scale_factor # decode z = self.vae.post_quant_conv(depth_latent) stacked = self.vae.decoder(z) diff --git a/marigold/marigold_iid_pipeline.py b/marigold/marigold_iid_pipeline.py new file mode 100644 index 0000000..4d69823 --- /dev/null +++ b/marigold/marigold_iid_pipeline.py @@ -0,0 +1,585 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import logging +import numpy as np +import torch +from PIL import Image +from diffusers import ( + AutoencoderKL, + DDIMScheduler, + DiffusionPipeline, + LCMScheduler, + UNet2DConditionModel, +) +from torch.utils.data import DataLoader, TensorDataset +from torchvision.transforms import InterpolationMode +from torchvision.transforms.functional import pil_to_tensor, resize +from tqdm.auto import tqdm +from transformers import CLIPTextModel, CLIPTokenizer +from typing import Any, Dict, Optional, Union, List +from dataclasses import dataclass + +from .util.batchsize import find_batch_size +from .util.ensemble import ensemble_iid +from .util.image_util import ( + chw2hwc, + get_tv_resample_method, + resize_max_res, +) + + +@dataclass +class IIDEntry: + """ + A single entry in the IID output, representing one decomposed component. + For each entry we output the following properties: + name (`str`): + The name of the entry. + array (`np.ndarray`): + Predicted numpy array with the shape of [3, H, W] values in the range of [0, 1]. + image (`PIL.Image.Image`): + Predicted image with the shape of [H, W, 3] and values in [0, 255]. + uncertainty (`None` or `np.ndarray`): + Uncalibrated uncertainty from ensembling. + """ + + name: str + array: Optional[np.ndarray] = None + image: Optional[Image.Image] = None + uncertainty: Optional[np.ndarray] = None + + +class MarigoldIIDOutput: + """Output class for Marigold Intrinsic Image Decomposition pipelines.""" + + def __init__(self, target_names: List[str]): + """Initialize output container with target names. + + Args: + target_names: List of names for each target component + """ + self.n_targets = len(target_names) + self.target_names = target_names + self.entries: List[IIDEntry] = [IIDEntry(name=name) for name in target_names] + self._entry_map = {entry.name: entry for entry in self.entries} + self._filled_entries = set() + + def fill_entry( + self, + name: str, + prediction: torch.Tensor, + uncertainty: Optional[torch.Tensor] = None, + target_properties: Optional[Dict[str, Any]] = None, + ) -> None: + """Fill a single entry with prediction data. + + Args: + name: Name of the entry to fill + prediction: Tensor containing the prediction for this entry + uncertainty: Optional tensor containing uncertainty values + target_properties: Properties of the predicted targets + """ + if name not in self._entry_map: + raise KeyError(f"Unknown entry name: {name}") + if name in self._filled_entries: + raise RuntimeError(f"Entry {name} already filled") + + entry = self._entry_map[name] + + # Process prediction + array = prediction.squeeze().cpu().numpy() + img_array = array + + # Prepare image visualization + prediction_space = target_properties[name].get("prediction_space", "srgb") + if prediction_space == "stack": + pass + elif prediction_space == "linear": + up_to_scale = target_properties[name].get("up_to_scale", False) + if up_to_scale: + img_array = img_array / max(img_array.max(), 1e-6) + img_array = img_array ** (1 / 2.2) + elif prediction_space == "srgb": + pass + + # Create image + img_array = (img_array * 255).astype(np.uint8) + img_array = chw2hwc(img_array) # Convert from CHW to HWC format + image = Image.fromarray(img_array) + + # Process uncertainty if available + uncert_array = ( + uncertainty.squeeze().cpu().numpy() if uncertainty is not None else None + ) + + # Update entry + entry.array = array + entry.image = image + entry.uncertainty = uncert_array + + self._filled_entries.add(name) + + @property + def is_complete(self) -> bool: + """Check if all entries have been filled.""" + return len(self._filled_entries) == self.n_targets + + def __getitem__(self, key: str) -> IIDEntry: + """Get an entry by name.""" + return self._entry_map[key] + + def __iter__(self): + """Iterate over entries.""" + return iter(self.entries) + + +class MarigoldIIDPipeline(DiffusionPipeline): + """ + Pipeline for Marigold Intrinsic Image Decomposition (IID): https://marigoldcomputervision.github.io. + This class supports arbitrary number of target modalities with names set in `target_names`. + + This model inherits from [`DiffusionPipeline`]. Check the superclass documentation for the generic methods the + library implements for all the pipelines (such as downloading or saving, running on a particular device, etc.) + + Args: + unet (`UNet2DConditionModel`): + Conditional U-Net to denoise the prediction latent, conditioned on image latent. + vae (`AutoencoderKL`): + Variational Auto-Encoder (VAE) Model to encode and decode images and predictions + to and from latent representations. + scheduler (`DDIMScheduler`): + A scheduler to be used in combination with `unet` to denoise the encoded image latents. + text_encoder (`CLIPTextModel`): + Text-encoder, for empty text embedding. + tokenizer (`CLIPTokenizer`): + CLIP tokenizer. + target_properties (`Dict[str, Any]`, *optional*): + Properties of the predicted modalities, such as `target_names`, a `List[str]` used to define the number, + order and names of the predicted modalities, and any other metadata that may be required to interpret the + predictions. + default_denoising_steps (`int`, *optional*): + The minimum number of denoising diffusion steps that are required to produce a prediction of reasonable + quality with the given model. This value must be set in the model config. When the pipeline is called + without explicitly setting `num_inference_steps`, the default value is used. This is required to ensure + reasonable results with various model flavors compatible with the pipeline, such as those relying on very + short denoising schedules (`LCMScheduler`) and those with full diffusion schedules (`DDIMScheduler`). + default_processing_resolution (`int`, *optional*): + The recommended value of the `processing_resolution` parameter of the pipeline. This value must be set in + the model config. When the pipeline is called without explicitly setting `processing_resolution`, the + default value is used. This is required to ensure reasonable results with various model flavors trained + with varying optimal processing resolution values. + """ + + latent_scale_factor = 0.18215 + + def __init__( + self, + unet: UNet2DConditionModel, + vae: AutoencoderKL, + scheduler: Union[DDIMScheduler, LCMScheduler], + text_encoder: CLIPTextModel, + tokenizer: CLIPTokenizer, + target_properties: Optional[Dict[str, Any]] = None, + default_denoising_steps: Optional[int] = None, + default_processing_resolution: Optional[int] = None, + ): + super().__init__() + self.register_modules( + unet=unet, + vae=vae, + scheduler=scheduler, + text_encoder=text_encoder, + tokenizer=tokenizer, + ) + + self.register_to_config( + target_properties=target_properties, + default_denoising_steps=default_denoising_steps, + default_processing_resolution=default_processing_resolution, + ) + + self.target_properties = target_properties + self.target_names = target_properties["target_names"] + self.n_targets = len(self.target_names) + + self.default_denoising_steps = default_denoising_steps + self.default_processing_resolution = default_processing_resolution + + self.empty_text_embed = None + + @torch.no_grad() + def __call__( + self, + input_image: Union[Image.Image, torch.Tensor], + denoising_steps: Optional[int] = None, + ensemble_size: int = 1, + processing_res: Optional[int] = None, + match_input_res: bool = True, + resample_method: str = "bilinear", + batch_size: int = 0, + generator: Union[torch.Generator, None] = None, + show_progress_bar: bool = True, + ensemble_kwargs: Dict = None, + ) -> MarigoldIIDOutput: + """ + Function invoked when calling the pipeline. + + Args: + input_image (`Image`): + Input RGB (or gray-scale) image. + denoising_steps (`int`, *optional*, defaults to `None`): + Number of denoising diffusion steps during inference. The default value `None` results in automatic + selection. + ensemble_size (`int`, *optional*, defaults to `1`): + Number of predictions to be ensembled. + processing_res (`int`, *optional*, defaults to `None`): + Effective processing resolution. When set to `0`, processes at the original image resolution. This + produces crisper predictions, but may also lead to the overall loss of global context. The default + value `None` resolves to the optimal value from the model config. + match_input_res (`bool`, *optional*, defaults to `True`): + Resize the prediction to match the input resolution. + Only valid if `processing_res` > 0. + resample_method: (`str`, *optional*, defaults to `bilinear`): + Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or + `nearest`, defaults to: `bilinear`. + batch_size (`int`, *optional*, defaults to `0`): + Inference batch size, no bigger than `num_ensemble`. + If set to 0, the script will automatically decide the proper batch size. + generator (`torch.Generator`, *optional*, defaults to `None`) + Random generator for initial noise generation. + show_progress_bar (`bool`, *optional*, defaults to `True`): + Display a progress bar of diffusion denoising. + ensemble_kwargs (`dict`, *optional*, defaults to `None`): + Arguments for detailed ensembling settings. + Returns: + `MarigoldIIDOutput`: Output class for Marigold Intrinsic Image Decomposition prediction pipeline. + """ + # Model-specific optimal default values leading to fast and reasonable results. + if denoising_steps is None: + denoising_steps = self.default_denoising_steps + if processing_res is None: + processing_res = self.default_processing_resolution + assert processing_res >= 0 + assert ensemble_size >= 1 + + # Check if denoising step is reasonable + self._check_inference_step(denoising_steps) + + resample_method: InterpolationMode = get_tv_resample_method(resample_method) + + # ----------------- Image Preprocess ----------------- + # Convert to torch tensor + if isinstance(input_image, Image.Image): + input_image = input_image.convert("RGB") + # convert to torch tensor [H, W, rgb] -> [rgb, H, W] + rgb = pil_to_tensor(input_image) + rgb = rgb.unsqueeze(0) # [1, rgb, H, W] + elif isinstance(input_image, torch.Tensor): + rgb = input_image + else: + raise TypeError(f"Unknown input type: {type(input_image) = }") + input_size = rgb.shape + assert 4 == rgb.dim() and 3 == input_size[-3], ( + f"Wrong input shape {input_size}, expected [1, rgb, H, W]" + ) + + # Resize image + if processing_res > 0: + rgb = resize_max_res( + rgb, + max_edge_resolution=processing_res, + resample_method=resample_method, + ) + + # Normalize rgb values + rgb_norm: torch.Tensor = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1] + rgb_norm = rgb_norm.to(self.dtype) + assert rgb_norm.min() >= -1.0 and rgb_norm.max() <= 1.0 + + # ----------------- Predicting IID ----------------- + # Batch repeated input image + duplicated_rgb = rgb_norm.expand(ensemble_size, -1, -1, -1) + single_rgb_dataset = TensorDataset(duplicated_rgb) + if batch_size > 0: + _bs = batch_size + else: + _bs = find_batch_size( + ensemble_size=ensemble_size, + input_res=max(rgb_norm.shape[1:]), + dtype=self.dtype, + ) + + single_rgb_loader = DataLoader( + single_rgb_dataset, batch_size=_bs, shuffle=False + ) + + # Predict IID maps (batched) + target_pred_ls = [] + if show_progress_bar: + iterable = tqdm( + single_rgb_loader, desc=" " * 2 + "Inference batches", leave=False + ) + else: + iterable = single_rgb_loader + for batch in iterable: + (batched_img,) = batch + target_pred_raw = self.single_infer( + rgb_in=batched_img, + num_inference_steps=denoising_steps, + show_pbar=show_progress_bar, + generator=generator, + ) + assert ( + target_pred_raw.dim() == 4 + and target_pred_raw.shape[1] == 3 * self.n_targets + ) + target_pred_ls.append(target_pred_raw.detach()) + target_preds = torch.concat(target_pred_ls, dim=0) + torch.cuda.empty_cache() # clear vram cache for ensembling + + # ----------------- Test-time ensembling ----------------- + if ensemble_size > 1: + final_pred, pred_uncert = ensemble_iid( + target_preds, + **(ensemble_kwargs or {}), + ) + else: + final_pred = target_preds + pred_uncert = None + + # Resize back to original resolution + if match_input_res: + final_pred = resize( + final_pred, + input_size[-2:], + interpolation=resample_method, + antialias=True, + ) + + # Create output + output = MarigoldIIDOutput(target_names=self.target_names) + self.fill_outputs(output, final_pred, pred_uncert) + assert output.is_complete + return output + + def fill_outputs( + self, + output: MarigoldIIDOutput, + final_pred: torch.Tensor, + pred_uncert: Optional[torch.Tensor] = None, + ): + for i, name in enumerate(self.target_names): + start_idx = i * 3 + end_idx = start_idx + 3 + output.fill_entry( + name=name, + prediction=final_pred[:, start_idx:end_idx], + uncertainty=( + pred_uncert[:, start_idx:end_idx] + if pred_uncert is not None + else None + ), + target_properties=self.target_properties, + ) + + def _check_inference_step(self, n_step: int) -> None: + """ + Check if denoising step is reasonable + Args: + n_step (`int`): denoising steps + """ + assert n_step >= 1 + + if isinstance(self.scheduler, DDIMScheduler): + if "trailing" != self.scheduler.config.timestep_spacing: + logging.warning( + f"The loaded `DDIMScheduler` is configured with `timestep_spacing=" + f'"{self.scheduler.config.timestep_spacing}"`; the recommended setting is `"trailing"`. ' + f"This change is backward-compatible and yields better results. " + f"Consider using `prs-eth/marigold-iid-appearance-v1-1` or `prs-eth/marigold-iid-lighting-v1-1` " + f"for the best experience." + ) + else: + if n_step > 10: + logging.warning( + f"Setting too many denoising steps ({n_step}) may degrade the prediction; consider relying on " + f"the default values." + ) + if not self.scheduler.config.rescale_betas_zero_snr: + logging.warning( + f"The loaded `DDIMScheduler` is configured with `rescale_betas_zero_snr=" + f"{self.scheduler.config.rescale_betas_zero_snr}`; the recommended setting is True. " + f"Consider using `prs-eth/marigold-iid-appearance-v1-1` or `prs-eth/marigold-iid-lighting-v1-1` " + f"for the best experience." + ) + elif isinstance(self.scheduler, LCMScheduler): + raise RuntimeError( + "This pipeline implementation does not support the LCMScheduler. Please refer to the project " + "README.md for instructions about using LCM." + ) + else: + raise RuntimeError(f"Unsupported scheduler type: {type(self.scheduler)}") + + def encode_empty_text(self): + """ + Encode text embedding for empty prompt + """ + prompt = "" + text_inputs = self.tokenizer( + prompt, + padding="do_not_pad", + max_length=self.tokenizer.model_max_length, + truncation=True, + return_tensors="pt", + ) + text_input_ids = text_inputs.input_ids.to(self.text_encoder.device) + self.empty_text_embed = self.text_encoder(text_input_ids)[0].to(self.dtype) + + @torch.no_grad() + def single_infer( + self, + rgb_in: torch.Tensor, + num_inference_steps: int, + generator: Union[torch.Generator, None], + show_pbar: bool, + ) -> torch.Tensor: + """ + Perform a single prediction without ensembling. + + Args: + rgb_in (`torch.Tensor`): + Input RGB image. + num_inference_steps (`int`): + Number of diffusion denoisign steps (DDIM) during inference. + show_pbar (`bool`): + Display a progress bar of diffusion denoising. + generator (`torch.Generator`) + Random generator for initial noise generation. + Returns: + `torch.Tensor`: Predicted targets of shape (B,3*n_targets,H,W). + """ + device = self.device + rgb_in = rgb_in.to(device) + + # Set timesteps + self.scheduler.set_timesteps(num_inference_steps, device=device) + timesteps = self.scheduler.timesteps # [T] + + # Encode image + rgb_latent = self.encode_rgb(rgb_in) # [B, 4, h, w] + + target_latent_shape = list(rgb_latent.shape) + target_latent_shape[1] *= self.n_targets + + # Noisy latent for outputs + target_latent = torch.randn( + target_latent_shape, device=device, dtype=self.dtype, generator=generator + ) # [B, 4*n_targets, h, w] + + # Batched empty text embedding + if self.empty_text_embed is None: + self.encode_empty_text() + batch_empty_text_embed = self.empty_text_embed.repeat( + (rgb_latent.shape[0], 1, 1) + ).to(device) # [B, 2, 1024] + + # Denoising loop + if show_pbar: + iterable = tqdm( + enumerate(timesteps), + total=len(timesteps), + leave=False, + desc=" " * 4 + "Diffusion denoising", + ) + else: + iterable = enumerate(timesteps) + + for i, t in iterable: + unet_input = torch.cat( + [rgb_latent, target_latent], dim=1 + ) # this order is important + + # predict the noise residual + noise_pred = self.unet( + unet_input, t, encoder_hidden_states=batch_empty_text_embed + ).sample # [B, 4*n_targets, h, w] + + # compute the previous noisy sample x_t -> x_t-1 + target_latent = self.scheduler.step( + noise_pred, t, target_latent, generator=generator + ).prev_sample + + targets = self.decode_targets(target_latent) # [B,3*n_targets,H,W] + + # clip prediction + targets = torch.clip(targets, -1.0, 1.0) + # shift to [0, 1] + targets = (targets + 1.0) / 2.0 + + return targets + + def encode_rgb(self, rgb_in: torch.Tensor) -> torch.Tensor: + """ + Encode RGB image into latent. + + Args: + rgb_in (`torch.Tensor`): + Input RGB image to be encoded. + + Returns: + `torch.Tensor`: Image latent. + """ + # encode + h = self.vae.encoder(rgb_in) + moments = self.vae.quant_conv(h) + mean, logvar = torch.chunk(moments, 2, dim=1) + # scale latent + rgb_latent = mean * self.latent_scale_factor + return rgb_latent + + def decode_targets(self, target_latent: torch.Tensor) -> torch.Tensor: + """ + Decode target latents into image space. + + Args: + target_latent: Target latent tensor of shape [B, 4*n_targets, h, w] + + Returns: + Decoded target tensor of shape [B, 3*n_targets, H, W] + """ + target_latent = target_latent / self.latent_scale_factor + targets = [] + for i in range(self.n_targets): + latent = target_latent[:, i * 4 : (i + 1) * 4, :, :] + z = self.vae.post_quant_conv(latent) + stacked = self.vae.decoder(z) + targets.append(stacked) + return torch.cat(targets, dim=1) diff --git a/marigold/marigold_normals_pipeline.py b/marigold/marigold_normals_pipeline.py new file mode 100644 index 0000000..2d83494 --- /dev/null +++ b/marigold/marigold_normals_pipeline.py @@ -0,0 +1,479 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import logging +import numpy as np +import torch +from PIL import Image +from diffusers import ( + AutoencoderKL, + DDIMScheduler, + DiffusionPipeline, + LCMScheduler, + UNet2DConditionModel, +) +from diffusers.utils import BaseOutput +from torch.utils.data import DataLoader, TensorDataset +from torchvision.transforms import InterpolationMode +from torchvision.transforms.functional import pil_to_tensor, resize +from tqdm.auto import tqdm +from transformers import CLIPTextModel, CLIPTokenizer +from typing import Dict, Optional, Union + +from .util.batchsize import find_batch_size +from .util.ensemble import ensemble_normals +from .util.image_util import ( + chw2hwc, + get_tv_resample_method, + resize_max_res, +) + + +class MarigoldNormalsOutput(BaseOutput): + """ + Output class for Marigold Surface Normals Estimation pipeline. + + Args: + normals_np (`np.ndarray`): + Predicted normals map of shape [3, H, W] with values in the range of [-1, 1] (unit length vectors). + normals_img (`PIL.Image.Image`): + Normals image, with the shape of [H, W, 3] and values in [0, 255]. + uncertainty (`None` or `np.ndarray`): + Uncalibrated uncertainty(MAD, median absolute deviation) coming from ensembling. + """ + + normals_np: np.ndarray + normals_img: Image.Image + uncertainty: Union[None, np.ndarray] + + +class MarigoldNormalsPipeline(DiffusionPipeline): + """ + Pipeline for Marigold Surface Normals Estimation: https://marigoldcomputervision.github.io. + + This model inherits from [`DiffusionPipeline`]. Check the superclass documentation for the generic methods the + library implements for all the pipelines (such as downloading or saving, running on a particular device, etc.) + + Args: + unet (`UNet2DConditionModel`): + Conditional U-Net to denoise the prediction latent, conditioned on image latent. + vae (`AutoencoderKL`): + Variational Auto-Encoder (VAE) Model to encode and decode images and predictions + to and from latent representations. + scheduler (`DDIMScheduler`): + A scheduler to be used in combination with `unet` to denoise the encoded image latents. + text_encoder (`CLIPTextModel`): + Text-encoder, for empty text embedding. + tokenizer (`CLIPTokenizer`): + CLIP tokenizer. + default_denoising_steps (`int`, *optional*): + The minimum number of denoising diffusion steps that are required to produce a prediction of reasonable + quality with the given model. This value must be set in the model config. When the pipeline is called + without explicitly setting `num_inference_steps`, the default value is used. This is required to ensure + reasonable results with various model flavors compatible with the pipeline, such as those relying on very + short denoising schedules (`LCMScheduler`) and those with full diffusion schedules (`DDIMScheduler`). + default_processing_resolution (`int`, *optional*): + The recommended value of the `processing_resolution` parameter of the pipeline. This value must be set in + the model config. When the pipeline is called without explicitly setting `processing_resolution`, the + default value is used. This is required to ensure reasonable results with various model flavors trained + with varying optimal processing resolution values. + """ + + latent_scale_factor = 0.18215 + + def __init__( + self, + unet: UNet2DConditionModel, + vae: AutoencoderKL, + scheduler: Union[DDIMScheduler, LCMScheduler], + text_encoder: CLIPTextModel, + tokenizer: CLIPTokenizer, + default_denoising_steps: Optional[int] = None, + default_processing_resolution: Optional[int] = None, + ): + super().__init__() + self.register_modules( + unet=unet, + vae=vae, + scheduler=scheduler, + text_encoder=text_encoder, + tokenizer=tokenizer, + ) + self.register_to_config( + default_denoising_steps=default_denoising_steps, + default_processing_resolution=default_processing_resolution, + ) + + self.default_denoising_steps = default_denoising_steps + self.default_processing_resolution = default_processing_resolution + + self.empty_text_embed = None + + @torch.no_grad() + def __call__( + self, + input_image: Union[Image.Image, torch.Tensor], + denoising_steps: Optional[int] = None, + ensemble_size: int = 1, + processing_res: Optional[int] = None, + match_input_res: bool = True, + resample_method: str = "bilinear", + batch_size: int = 0, + generator: Union[torch.Generator, None] = None, + show_progress_bar: bool = True, + ensemble_kwargs: Dict = None, + ) -> MarigoldNormalsOutput: + """ + Function invoked when calling the pipeline. + + Args: + input_image (`Image`): + Input RGB (or gray-scale) image. + denoising_steps (`int`, *optional*, defaults to `None`): + Number of denoising diffusion steps during inference. The default value `None` results in automatic + selection. + ensemble_size (`int`, *optional*, defaults to `1`): + Number of predictions to be ensembled. + processing_res (`int`, *optional*, defaults to `None`): + Effective processing resolution. When set to `0`, processes at the original image resolution. This + produces crisper predictions, but may also lead to the overall loss of global context. The default + value `None` resolves to the optimal value from the model config. + match_input_res (`bool`, *optional*, defaults to `True`): + Resize the prediction to match the input resolution. + Only valid if `processing_res` > 0. + resample_method: (`str`, *optional*, defaults to `bilinear`): + Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or + `nearest`, defaults to: `bilinear`. + batch_size (`int`, *optional*, defaults to `0`): + Inference batch size, no bigger than `num_ensemble`. + If set to 0, the script will automatically decide the proper batch size. + generator (`torch.Generator`, *optional*, defaults to `None`) + Random generator for initial noise generation. + show_progress_bar (`bool`, *optional*, defaults to `True`): + Display a progress bar of diffusion denoising. + ensemble_kwargs (`dict`, *optional*, defaults to `None`): + Arguments for detailed ensembling settings. + Returns: + `MarigoldNormalsOutput`: Output class for Marigold monocular surface normals estimation pipeline, including: + - **normals_np** (`np.ndarray`) Predicted normals map of shape [3, H, W] with values in the range of [-1, 1] + (unit length vectors) + - **normals_img** (`PIL.Image.Image`) Normals image, with the shape of [H, W, 3] and values in [0, 255] + - **uncertainty** (`None` or `np.ndarray`) Uncalibrated uncertainty(MAD, median absolute deviation) + coming from ensembling. None if `ensemble_size = 1` + """ + # Model-specific optimal default values leading to fast and reasonable results. + if denoising_steps is None: + denoising_steps = self.default_denoising_steps + if processing_res is None: + processing_res = self.default_processing_resolution + + assert processing_res >= 0 + assert ensemble_size >= 1 + + # Check if denoising step is reasonable + self._check_inference_step(denoising_steps) + + resample_method: InterpolationMode = get_tv_resample_method(resample_method) + + # ----------------- Image Preprocess ----------------- + # Convert to torch tensor + if isinstance(input_image, Image.Image): + input_image = input_image.convert("RGB") + # convert to torch tensor [H, W, rgb] -> [rgb, H, W] + rgb = pil_to_tensor(input_image) + rgb = rgb.unsqueeze(0) # [1, rgb, H, W] + elif isinstance(input_image, torch.Tensor): + rgb = input_image + else: + raise TypeError(f"Unknown input type: {type(input_image) = }") + input_size = rgb.shape + assert 4 == rgb.dim() and 3 == input_size[-3], ( + f"Wrong input shape {input_size}, expected [1, rgb, H, W]" + ) + + # Resize image + if processing_res > 0: + rgb = resize_max_res( + rgb, + max_edge_resolution=processing_res, + resample_method=resample_method, + ) + + # Normalize rgb values + rgb_norm: torch.Tensor = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1] + rgb_norm = rgb_norm.to(self.dtype) + assert rgb_norm.min() >= -1.0 and rgb_norm.max() <= 1.0 + + # ----------------- Predicting normals ----------------- + # Batch repeated input image + duplicated_rgb = rgb_norm.expand(ensemble_size, -1, -1, -1) + single_rgb_dataset = TensorDataset(duplicated_rgb) + if batch_size > 0: + _bs = batch_size + else: + _bs = find_batch_size( + ensemble_size=ensemble_size, + input_res=max(rgb_norm.shape[1:]), + dtype=self.dtype, + ) + + single_rgb_loader = DataLoader( + single_rgb_dataset, batch_size=_bs, shuffle=False + ) + + # Predict normals maps (batched) + target_pred_ls = [] + if show_progress_bar: + iterable = tqdm( + single_rgb_loader, desc=" " * 2 + "Inference batches", leave=False + ) + else: + iterable = single_rgb_loader + for batch in iterable: + (batched_img,) = batch + target_pred_raw = self.single_infer( + rgb_in=batched_img, + num_inference_steps=denoising_steps, + show_pbar=show_progress_bar, + generator=generator, + ) + target_pred_ls.append(target_pred_raw.detach()) + target_preds = torch.concat(target_pred_ls, dim=0) + torch.cuda.empty_cache() # clear vram cache for ensembling + + # ----------------- Test-time ensembling ----------------- + if ensemble_size > 1: + final_pred, pred_uncert = ensemble_normals( + target_preds, + **(ensemble_kwargs or {}), + ) + else: + final_pred = target_preds + pred_uncert = None + + # Resize back to original resolution + if match_input_res: + final_pred = resize( + final_pred, + input_size[-2:], + interpolation=resample_method, + antialias=True, + ) + + # Convert to numpy + final_pred = final_pred.squeeze() + final_pred = final_pred.cpu().numpy() + if pred_uncert is not None: + pred_uncert = pred_uncert.squeeze().cpu().numpy() + + # Clip output range + final_pred = final_pred.clip(-1, 1) + + # Colorize + normals_img = ((final_pred + 1) * 127.5).astype(np.uint8) + normals_img = chw2hwc(normals_img) + normals_img = Image.fromarray(normals_img) + + return MarigoldNormalsOutput( + normals_np=final_pred, + normals_img=normals_img, + uncertainty=pred_uncert, + ) + + def _check_inference_step(self, n_step: int) -> None: + """ + Check if denoising step is reasonable + Args: + n_step (`int`): denoising steps + """ + assert n_step >= 1 + + if isinstance(self.scheduler, DDIMScheduler): + if "trailing" != self.scheduler.config.timestep_spacing: + logging.warning( + f"The loaded `DDIMScheduler` is configured with `timestep_spacing=" + f'"{self.scheduler.config.timestep_spacing}"`; the recommended setting is `"trailing"`. ' + f"This change is backward-compatible and yields better results. " + f"Consider using `prs-eth/marigold-normals-v1-1` for the best experience." + ) + else: + if n_step > 10: + logging.warning( + f"Setting too many denoising steps ({n_step}) may degrade the prediction; consider relying on " + f"the default values." + ) + if not self.scheduler.config.rescale_betas_zero_snr: + logging.warning( + f"The loaded `DDIMScheduler` is configured with `rescale_betas_zero_snr=" + f"{self.scheduler.config.rescale_betas_zero_snr}`; the recommended setting is True. " + f"Consider using `prs-eth/marigold-normals-v1-1` for the best experience." + ) + elif isinstance(self.scheduler, LCMScheduler): + raise RuntimeError( + "This pipeline implementation does not support the LCMScheduler. Please refer to the project " + "README.md for instructions about using LCM." + ) + else: + raise RuntimeError(f"Unsupported scheduler type: {type(self.scheduler)}") + + def encode_empty_text(self): + """ + Encode text embedding for empty prompt + """ + prompt = "" + text_inputs = self.tokenizer( + prompt, + padding="do_not_pad", + max_length=self.tokenizer.model_max_length, + truncation=True, + return_tensors="pt", + ) + text_input_ids = text_inputs.input_ids.to(self.text_encoder.device) + self.empty_text_embed = self.text_encoder(text_input_ids)[0].to(self.dtype) + + @torch.no_grad() + def single_infer( + self, + rgb_in: torch.Tensor, + num_inference_steps: int, + generator: Union[torch.Generator, None], + show_pbar: bool, + ) -> torch.Tensor: + """ + Perform a single prediction without ensembling. + + Args: + rgb_in (`torch.Tensor`): + Input RGB image. + num_inference_steps (`int`): + Number of diffusion denoisign steps (DDIM) during inference. + show_pbar (`bool`): + Display a progress bar of diffusion denoising. + generator (`torch.Generator`) + Random generator for initial noise generation. + Returns: + `torch.Tensor`: Predicted targets. + """ + device = self.device + rgb_in = rgb_in.to(device) + + # Set timesteps + self.scheduler.set_timesteps(num_inference_steps, device=device) + timesteps = self.scheduler.timesteps # [T] + + # Encode image + rgb_latent = self.encode_rgb(rgb_in) # [B, 4, h, w] + + # Noisy latent for outputs + target_latent = torch.randn( + rgb_latent.shape, + device=device, + dtype=self.dtype, + generator=generator, + ) # [B, 4, h, w] + + # Batched empty text embedding + if self.empty_text_embed is None: + self.encode_empty_text() + batch_empty_text_embed = self.empty_text_embed.repeat( + (rgb_latent.shape[0], 1, 1) + ).to(device) # [B, 2, 1024] + + # Denoising loop + if show_pbar: + iterable = tqdm( + enumerate(timesteps), + total=len(timesteps), + leave=False, + desc=" " * 4 + "Diffusion denoising", + ) + else: + iterable = enumerate(timesteps) + + for i, t in iterable: + unet_input = torch.cat( + [rgb_latent, target_latent], dim=1 + ) # this order is important + + # predict the noise residual + noise_pred = self.unet( + unet_input, t, encoder_hidden_states=batch_empty_text_embed + ).sample # [B, 4, h, w] + + # compute the previous noisy sample x_t -> x_t-1 + target_latent = self.scheduler.step( + noise_pred, t, target_latent, generator=generator + ).prev_sample + + normals = self.decode_normals(target_latent) # [B,3,H,W] + + # clip prediction + normals = torch.clip(normals, -1.0, 1.0) + norm = torch.norm(normals, dim=1, keepdim=True) + normals /= norm.clamp(min=1e-6) # [B,3,H,W] + + return normals + + def encode_rgb(self, rgb_in: torch.Tensor) -> torch.Tensor: + """ + Encode RGB image into latent. + + Args: + rgb_in (`torch.Tensor`): + Input RGB image to be encoded. + + Returns: + `torch.Tensor`: Image latent. + """ + # encode + h = self.vae.encoder(rgb_in) + moments = self.vae.quant_conv(h) + mean, logvar = torch.chunk(moments, 2, dim=1) + # scale latent + rgb_latent = mean * self.latent_scale_factor + return rgb_latent + + def decode_normals(self, normals_latent: torch.Tensor) -> torch.Tensor: + """ + Decode normals latent into normals map. + + Args: + normals_latent (`torch.Tensor`): + Normals latent to be decoded. + + Returns: + `torch.Tensor`: Decoded normals map. + """ + # scale latent + normals_latent = normals_latent / self.latent_scale_factor + # decode + z = self.vae.post_quant_conv(normals_latent) + stacked = self.vae.decoder(z) + return stacked diff --git a/marigold/util/batchsize.py b/marigold/util/batchsize.py index 380a357..888f0f6 100644 --- a/marigold/util/batchsize.py +++ b/marigold/util/batchsize.py @@ -1,4 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -12,15 +12,24 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - -import torch import math - +import torch # Search table for suggested max. inference batch size bs_search_table = [ diff --git a/marigold/util/ensemble.py b/marigold/util/ensemble.py index d8c087b..a29db6d 100644 --- a/marigold/util/ensemble.py +++ b/marigold/util/ensemble.py @@ -1,4 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -12,34 +12,30 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - -from functools import partial -from typing import Optional, Tuple - import numpy as np import torch +from functools import partial +from typing import Optional, Tuple from .image_util import get_tv_resample_method, resize_max_res -def inter_distances(tensors: torch.Tensor): - """ - To calculate the distance between each two depth maps. - """ - distances = [] - for i, j in torch.combinations(torch.arange(tensors.shape[0])): - arr1 = tensors[i : i + 1] - arr2 = tensors[j : j + 1] - distances.append(arr1 - arr2) - dist = torch.concatenate(distances, dim=0) - return dist - - def ensemble_depth( depth: torch.Tensor, scale_invariant: bool = True, @@ -47,8 +43,8 @@ def ensemble_depth( output_uncertainty: bool = False, reduction: str = "median", regularizer_strength: float = 0.02, - max_iter: int = 2, - tol: float = 1e-3, + max_iter: int = 50, + tol: float = 1e-6, max_res: int = 1024, ) -> Tuple[torch.Tensor, Optional[torch.Tensor]]: """ @@ -106,7 +102,7 @@ def init_param(depth: torch.Tensor): else: raise ValueError("Unrecognized alignment.") - return param + return param.astype(np.float64) def align(depth: torch.Tensor, param: np.ndarray) -> torch.Tensor: if scale_invariant and shift_invariant: @@ -198,3 +194,77 @@ def compute_param(depth: torch.Tensor): uncertainty /= depth_range return depth, uncertainty # [1,1,H,W], [1,1,H,W] + + +def ensemble_normals( + normals: torch.Tensor, + output_uncertainty: bool = False, + reduction: str = "closest", +) -> Tuple[torch.Tensor, Optional[torch.Tensor]]: + """ + Ensembles the normals maps represented by the `normals` tensor with expected shape `(B, 3, H, W)`, where B is + the number of ensemble members for a given prediction of size `(H x W)`. + + Args: + normals (`torch.Tensor`): + Input ensemble normals maps. + output_uncertainty (`bool`, *optional*, defaults to `False`): + Whether to output uncertainty map. + reduction (`str`, *optional*, defaults to `"closest"`): + Reduction method used to ensemble aligned predictions. The accepted values are: `"closest"` and + `"mean"`. + + Returns: + A tensor of aligned and ensembled normals maps with shape `(1, 3, H, W)` and optionally a tensor of + uncertainties of shape `(1, 1, H, W)`. + """ + if normals.dim() != 4 or normals.shape[1] != 3: + raise ValueError( + f"Expecting 4D tensor of shape [B,3,H,W]; got {normals.shape}." + ) + if reduction not in ("closest", "mean"): + raise ValueError(f"Unrecognized reduction method: {reduction}.") + + mean_normals = normals.mean(dim=0, keepdim=True) # [1,3,H,W] + norm = torch.norm(mean_normals, dim=1, keepdim=True) + mean_normals /= norm.clamp(min=1e-6) # [1,3,H,W] + + sim_cos = None + if output_uncertainty or (reduction != "mean"): + sim_cos = (mean_normals * normals).sum(dim=1, keepdim=True) # [E,1,H,W] + sim_cos = sim_cos.clamp(-1, 1) # required to avoid NaN in uncertainty with fp16 + + uncertainty = None + if output_uncertainty: + uncertainty = sim_cos.arccos() # [E,1,H,W] + uncertainty = uncertainty.mean(dim=0, keepdim=True) / np.pi # [1,1,H,W] + + if reduction == "mean": + return mean_normals, uncertainty # [1,3,H,W], [1,1,H,W] + + closest_indices = sim_cos.argmax(dim=0, keepdim=True) # [1,1,H,W] + closest_indices = closest_indices.repeat(1, 3, 1, 1) # [1,3,H,W] + closest_normals = torch.gather(normals, 0, closest_indices) # [1,3,H,W] + + return closest_normals, uncertainty # [1,3,H,W], [1,1,H,W] + + +def ensemble_iid( + targets: torch.Tensor, + output_uncertainty: bool = False, + reduction: str = "median", +) -> Tuple[torch.Tensor, Optional[torch.Tensor]]: + uncertainty = None + if reduction == "mean": + prediction = torch.mean(targets, dim=0, keepdim=True) + if output_uncertainty: + uncertainty = torch.std(targets, dim=0, keepdim=True) + elif reduction == "median": + prediction = torch.median(targets, dim=0, keepdim=True).values + if output_uncertainty: + uncertainty = torch.median( + torch.abs(targets - prediction), dim=0, keepdim=True + ).values + else: + raise ValueError(f"Unrecognized reduction method: {reduction}.") + return prediction, uncertainty diff --git a/marigold/util/image_util.py b/marigold/util/image_util.py index 82078fe..1d4f84c 100644 --- a/marigold/util/image_util.py +++ b/marigold/util/image_util.py @@ -1,5 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. -# Last modified: 2024-05-24 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -13,12 +12,22 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - import matplotlib import numpy as np import torch @@ -73,6 +82,8 @@ def chw2hwc(chw): hwc = torch.permute(chw, (1, 2, 0)) elif isinstance(chw, np.ndarray): hwc = np.moveaxis(chw, 0, -1) + else: + raise TypeError("img should be np.ndarray or torch.Tensor") return hwc @@ -121,3 +132,18 @@ def get_tv_resample_method(method_str: str) -> InterpolationMode: raise ValueError(f"Unknown resampling method: {resample_method}") else: return resample_method + + +def float2int(img): + if isinstance(img, np.ndarray): + return (img * 255.0).astype(np.uint8) + else: + return (img * 255.0).to(torch.uint8) + + +def srgb2linear(img): + return img**2.2 + + +def linear2srgb(img): + return img ** (1.0 / 2.2) diff --git a/requirements++.txt b/requirements++.txt index 8e8acd2..54bcc57 100644 --- a/requirements++.txt +++ b/requirements++.txt @@ -2,5 +2,6 @@ h5py opencv-python tensorboard wandb -xformers==0.0.27.post2 +scikit-learn +xformers==0.0.28 diff --git a/requirements+.txt b/requirements+.txt index ed03f66..bdb3181 100644 --- a/requirements+.txt +++ b/requirements+.txt @@ -1,3 +1,4 @@ omegaconf pandas -tabulate \ No newline at end of file +tabulate +torchmetrics \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index 37411cf..85293ec 100644 --- a/requirements.txt +++ b/requirements.txt @@ -2,6 +2,6 @@ accelerate>=0.22.0 diffusers>=0.25.0 matplotlib scipy -torch==2.4.0 -torchvision==0.19.0 +torch==2.4.1 +torchvision==0.19.1 transformers>=4.32.1 \ No newline at end of file diff --git a/script/dataset_preprocess/hypersim/README.md b/script/dataset_preprocess/hypersim/README.md deleted file mode 100644 index f7e89a0..0000000 --- a/script/dataset_preprocess/hypersim/README.md +++ /dev/null @@ -1,22 +0,0 @@ -# Hypersim preprocessing - -## Download - -Download [Hypersim](https://github.com/apple/ml-hypersim) dataset using [this script](https://github.com/apple/ml-hypersim/blob/20f398f4387aeca73175494d6a2568f37f372150/code/python/tools/dataset_download_images.py). - -Download the scene split file from [here](https://github.com/apple/ml-hypersim/blob/main/evermotion_dataset/analysis/metadata_images_split_scene_v1.csv). - -## Process dataset - -Run the preprocessing script: - -```bash -python script/dataset_preprocess/hypersim/preprocess_hypersim.py --split_csv /path/to/metadata_images_split_scene_v1.csv -``` - -(optional) Tar the processed data, for example: - -```bash -cd data/Hypersim/processed/train -tar -cf ../../hypersim_processed_train.tar . -``` diff --git a/script/depth/dataset_preprocess/hypersim/README.md b/script/depth/dataset_preprocess/hypersim/README.md new file mode 100644 index 0000000..692b697 --- /dev/null +++ b/script/depth/dataset_preprocess/hypersim/README.md @@ -0,0 +1,22 @@ +# Hypersim Depth Preprocessing + +## Download + +Download the [Hypersim](https://github.com/apple/ml-hypersim) dataset using [this script](https://github.com/apple/ml-hypersim/blob/20f398f4387aeca73175494d6a2568f37f372150/code/python/tools/dataset_download_images.py). + +Download the scene split file from [here](https://github.com/apple/ml-hypersim/blob/main/evermotion_dataset/analysis/metadata_images_split_scene_v1.csv). + +## Process dataset + +Run the preprocessing script: + +```bash +python script/dataset_preprocess_depth/hypersim/preprocess_hypersim.py --split_csv /path/to/metadata_images_split_scene_v1.csv +``` + +(optional) Tar the processed data, for example: + +```bash +cd data/Hypersim/processed/train +tar -cf ../../hypersim_processed_train.tar . +``` diff --git a/script/dataset_preprocess/hypersim/hypersim_util.py b/script/depth/dataset_preprocess/hypersim/hypersim_util.py similarity index 65% rename from script/dataset_preprocess/hypersim/hypersim_util.py rename to script/depth/dataset_preprocess/hypersim/hypersim_util.py index 2bedaed..a90fb96 100644 --- a/script/dataset_preprocess/hypersim/hypersim_util.py +++ b/script/depth/dataset_preprocess/hypersim/hypersim_util.py @@ -1,6 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-19 - +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- from pylab import count_nonzero, clip, np diff --git a/script/dataset_preprocess/hypersim/preprocess_hypersim.py b/script/depth/dataset_preprocess/hypersim/preprocess_hypersim.py similarity index 79% rename from script/dataset_preprocess/hypersim/preprocess_hypersim.py rename to script/depth/dataset_preprocess/hypersim/preprocess_hypersim.py index c818f01..bbef1b4 100644 --- a/script/dataset_preprocess/hypersim/preprocess_hypersim.py +++ b/script/depth/dataset_preprocess/hypersim/preprocess_hypersim.py @@ -1,16 +1,43 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-19 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import argparse -import os - import cv2 import h5py import numpy as np +import os import pandas as pd -from hypersim_util import dist_2_depth, tone_map from tqdm import tqdm +from hypersim_util import dist_2_depth, tone_map + IMG_WIDTH = 1024 IMG_HEIGHT = 768 FOCAL_LENGTH = 886.81 diff --git a/eval.py b/script/depth/eval.py similarity index 72% rename from eval.py rename to script/depth/eval.py index 2cde0b2..8b35e0d 100644 --- a/eval.py +++ b/script/depth/eval.py @@ -1,5 +1,4 @@ -# Last modified: 2024-03-11 -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -13,16 +12,31 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- -import argparse -import logging +import sys import os +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging import numpy as np +import os import torch from omegaconf import OmegaConf from tabulate import tabulate @@ -30,7 +44,6 @@ from tqdm.auto import tqdm from src.dataset import ( - BaseDepthDataset, DatasetMode, get_dataset, get_pred_name, @@ -57,33 +70,33 @@ ] if "__main__" == __name__: - parser = argparse.ArgumentParser() - # input + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Monocular Depth Estimation : Metrics Evaluation" + ) parser.add_argument( "--prediction_dir", type=str, required=True, - help="Directory of depth predictions", - ) - parser.add_argument( - "--output_dir", type=str, required=True, help="Output directory." + help="Directory with predictions obtained from inference.", ) - - # dataset setting parser.add_argument( "--dataset_config", type=str, required=True, - help="Path to config file of evaluation dataset.", + help="Path to the config file of the evaluation dataset.", ) parser.add_argument( "--base_data_dir", type=str, required=True, - help="Path to base data directory.", + help="Base path to the datasets.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." ) - - # LS depth alignment parser.add_argument( "--alignment", choices=[None, "least_square", "least_square_disparity"], @@ -96,35 +109,22 @@ default=None, help="Max operating resolution used for LS alignment", ) - - parser.add_argument("--no_cuda", action="store_true", help="Run without cuda") + parser.add_argument("--no_cuda", action="store_true", help="Run without cuda.") args = parser.parse_args() - prediction_dir = args.prediction_dir - output_dir = args.output_dir - - dataset_config = args.dataset_config - base_data_dir = args.base_data_dir - - alignment = args.alignment - alignment_max_res = args.alignment_max_res - - no_cuda = args.no_cuda - pred_suffix = ".npy" - - os.makedirs(output_dir, exist_ok=True) + os.makedirs(args.output_dir, exist_ok=True) # -------------------- Device -------------------- - cuda_avail = torch.cuda.is_available() and not no_cuda + cuda_avail = torch.cuda.is_available() and not args.no_cuda device = torch.device("cuda" if cuda_avail else "cpu") logging.info(f"Device: {device}") # -------------------- Data -------------------- - cfg_data = OmegaConf.load(dataset_config) + cfg_data = OmegaConf.load(args.dataset_config) - dataset: BaseDepthDataset = get_dataset( - cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.EVAL + dataset = get_dataset( + cfg_data, base_data_dir=args.base_data_dir, mode=DatasetMode.EVAL ) dataloader = DataLoader(dataset, batch_size=1, num_workers=0) @@ -135,8 +135,8 @@ metric_tracker = MetricTracker(*[m.__name__ for m in metric_funcs]) metric_tracker.reset() - # -------------------- Per-sample metric file head -------------------- - per_sample_filename = os.path.join(output_dir, "per_sample_metrics.csv") + # -------------------- Per-sample metrics file -------------------- + per_sample_filename = os.path.join(args.output_dir, "per_sample_metrics.csv") # write title with open(per_sample_filename, "w+") as f: f.write("filename,") @@ -158,27 +158,25 @@ # Load predictions rgb_basename = os.path.basename(rgb_name) - pred_basename = get_pred_name( - rgb_basename, dataset.name_mode, suffix=pred_suffix - ) + pred_basename = get_pred_name(rgb_basename, dataset.name_mode, suffix=".npy") pred_name = os.path.join(os.path.dirname(rgb_name), pred_basename) - pred_path = os.path.join(prediction_dir, pred_name) - depth_pred = np.load(pred_path) + pred_path = os.path.join(args.prediction_dir, pred_name) + depth_pred = np.load(pred_path).astype(np.float32) if not os.path.exists(pred_path): - logging.warn(f"Can't find prediction: {pred_path}") + logging.warning(f"Can't find prediction: {pred_path}") continue # Align with GT using least square - if "least_square" == alignment: + if "least_square" == args.alignment: depth_pred, scale, shift = align_depth_least_square( gt_arr=depth_raw, pred_arr=depth_pred, valid_mask_arr=valid_mask, return_scale_shift=True, - max_resolution=alignment_max_res, + max_resolution=args.alignment_max_res, ) - elif "least_square_disparity" == alignment: + elif "least_square_disparity" == args.alignment: # convert GT depth -> GT disparity gt_disparity, gt_non_neg_mask = depth2disparity( depth=depth_raw, return_mask=True @@ -192,7 +190,7 @@ pred_arr=depth_pred, valid_mask_arr=valid_nonnegative_mask, return_scale_shift=True, - max_resolution=alignment_max_res, + max_resolution=args.alignment_max_res, ) # convert to depth disparity_pred = np.clip( @@ -226,23 +224,22 @@ # -------------------- Save metrics to file -------------------- eval_text = f"Evaluation metrics:\n\ - of predictions: {prediction_dir}\n\ + of predictions: {args.prediction_dir}\n\ on dataset: {dataset.disp_name}\n\ with samples in: {dataset.filename_ls_path}\n" eval_text += f"min_depth = {dataset.min_depth}\n" eval_text += f"max_depth = {dataset.max_depth}\n" - eval_text += tabulate( [metric_tracker.result().keys(), metric_tracker.result().values()] ) metrics_filename = "eval_metrics" - if alignment: - metrics_filename += f"-{alignment}" + if args.alignment: + metrics_filename += f"-{args.alignment}" metrics_filename += ".txt" - _save_to = os.path.join(output_dir, metrics_filename) + _save_to = os.path.join(args.output_dir, metrics_filename) with open(_save_to, "w+") as f: f.write(eval_text) logging.info(f"Evaluation metrics saved to {_save_to}") diff --git a/script/depth/eval/0_infer_eval_all.sh b/script/depth/eval/0_infer_eval_all.sh new file mode 100644 index 0000000..46a256d --- /dev/null +++ b/script/depth/eval/0_infer_eval_all.sh @@ -0,0 +1,22 @@ +#!/usr/bin/env bash +set -e +set -x + +n_ensemble=1 +ckpt="prs-eth/marigold-depth-v1-1" +subfolder="eval_1step_${n_ensemble}ensemble" + +bash script/depth/eval/11_infer_nyu.sh ${ckpt} ${subfolder} ${n_ensemble} +bash script/depth/eval/12_eval_nyu.sh ${subfolder} + +bash script/depth/eval/21_infer_kitti.sh ${ckpt} ${subfolder} ${n_ensemble} +bash script/depth/eval/22_eval_kitti.sh ${subfolder} + +bash script/depth/eval/31_infer_eth3d.sh ${ckpt} ${subfolder} ${n_ensemble} +bash script/depth/eval/32_eval_eth3d.sh ${subfolder} + +bash script/depth/eval/41_infer_scannet.sh ${ckpt} ${subfolder} ${n_ensemble} +bash script/depth/eval/42_eval_scannet.sh ${subfolder} + +bash script/depth/eval/51_infer_diode.sh ${ckpt} ${subfolder} ${n_ensemble} +bash script/depth/eval/52_eval_diode.sh ${subfolder} diff --git a/script/depth/eval/11_infer_nyu.sh b/script/depth/eval/11_infer_nyu.sh new file mode 100644 index 0000000..04c3801 --- /dev/null +++ b/script/depth/eval/11_infer_nyu.sh @@ -0,0 +1,18 @@ +#!/usr/bin/env bash +set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-depth-v1-1"} +subfolder=${2:-"eval"} +n_ensemble=${3:-10} + +python script/depth/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 1 \ + --ensemble_size ${n_ensemble} \ + --processing_res 0 \ + --dataset_config config/dataset_depth/data_nyu_test.yaml \ + --output_dir output/${subfolder}/nyu_test/prediction diff --git a/script/eval/12_eval_nyu.sh b/script/depth/eval/12_eval_nyu.sh similarity index 55% rename from script/eval/12_eval_nyu.sh rename to script/depth/eval/12_eval_nyu.sh index 69e52b9..c541c70 100644 --- a/script/eval/12_eval_nyu.sh +++ b/script/depth/eval/12_eval_nyu.sh @@ -4,9 +4,9 @@ set -x subfolder=${1:-"eval"} -python eval.py \ +python script/depth/eval.py \ --base_data_dir $BASE_DATA_DIR \ - --dataset_config config/dataset/data_nyu_test.yaml \ + --dataset_config config/dataset_depth/data_nyu_test.yaml \ --alignment least_square \ --prediction_dir output/${subfolder}/nyu_test/prediction \ - --output_dir output/${subfolder}/nyu_test/eval_metric \ + --output_dir output/${subfolder}/nyu_test/eval_metric diff --git a/script/depth/eval/21_infer_kitti.sh b/script/depth/eval/21_infer_kitti.sh new file mode 100644 index 0000000..7000dfb --- /dev/null +++ b/script/depth/eval/21_infer_kitti.sh @@ -0,0 +1,18 @@ +#!/usr/bin/env bash +set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-depth-v1-1"} +subfolder=${2:-"eval"} +n_ensemble=${3:-10} + +python script/depth/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 1 \ + --ensemble_size ${n_ensemble} \ + --processing_res 0 \ + --dataset_config config/dataset_depth/data_kitti_eigen_test.yaml \ + --output_dir output/${subfolder}/kitti_eigen_test/prediction diff --git a/script/eval/22_eval_kitti.sh b/script/depth/eval/22_eval_kitti.sh similarity index 71% rename from script/eval/22_eval_kitti.sh rename to script/depth/eval/22_eval_kitti.sh index 69828e7..f762693 100644 --- a/script/eval/22_eval_kitti.sh +++ b/script/depth/eval/22_eval_kitti.sh @@ -4,9 +4,9 @@ set -x subfolder=${1:-"eval"} -python eval.py \ +python script/depth/eval.py \ --base_data_dir $BASE_DATA_DIR \ - --dataset_config config/dataset/data_kitti_eigen_test.yaml \ + --dataset_config config/dataset_depth/data_kitti_eigen_test.yaml \ --alignment least_square \ --prediction_dir output/${subfolder}/kitti_eigen_test/prediction \ - --output_dir output/${subfolder}/kitti_eigen_test/eval_metric \ + --output_dir output/${subfolder}/kitti_eigen_test/eval_metric diff --git a/script/depth/eval/31_infer_eth3d.sh b/script/depth/eval/31_infer_eth3d.sh new file mode 100644 index 0000000..850706d --- /dev/null +++ b/script/depth/eval/31_infer_eth3d.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env bash +set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-depth-v1-1"} +subfolder=${2:-"eval"} +n_ensemble=${3:-10} + +python script/depth/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 1 \ + --ensemble_size ${n_ensemble} \ + --dataset_config config/dataset_depth/data_eth3d.yaml \ + --output_dir output/${subfolder}/eth3d/prediction \ + --processing_res 756 \ + --resample_method bilinear diff --git a/script/eval/32_eval_eth3d.sh b/script/depth/eval/32_eval_eth3d.sh similarity index 67% rename from script/eval/32_eval_eth3d.sh rename to script/depth/eval/32_eval_eth3d.sh index f25c346..d8dc1fc 100644 --- a/script/eval/32_eval_eth3d.sh +++ b/script/depth/eval/32_eval_eth3d.sh @@ -4,10 +4,10 @@ set -x subfolder=${1:-"eval"} -python eval.py \ +python script/depth/eval.py \ --base_data_dir $BASE_DATA_DIR \ - --dataset_config config/dataset/data_eth3d.yaml \ + --dataset_config config/dataset_depth/data_eth3d.yaml \ --alignment least_square \ --prediction_dir output/${subfolder}/eth3d/prediction \ --output_dir output/${subfolder}/eth3d/eval_metric \ - --alignment_max_res 1024 \ \ No newline at end of file + --alignment_max_res 1024 diff --git a/script/depth/eval/41_infer_scannet.sh b/script/depth/eval/41_infer_scannet.sh new file mode 100644 index 0000000..55017f9 --- /dev/null +++ b/script/depth/eval/41_infer_scannet.sh @@ -0,0 +1,18 @@ +#!/usr/bin/env bash +set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-depth-v1-1"} +subfolder=${2:-"eval"} +n_ensemble=${3:-10} + +python script/depth/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 1 \ + --ensemble_size ${n_ensemble} \ + --processing_res 0 \ + --dataset_config config/dataset_depth/data_scannet_val.yaml \ + --output_dir output/${subfolder}/scannet/prediction diff --git a/script/eval/42_eval_scannet.sh b/script/depth/eval/42_eval_scannet.sh similarity index 55% rename from script/eval/42_eval_scannet.sh rename to script/depth/eval/42_eval_scannet.sh index da4c784..0fedc25 100644 --- a/script/eval/42_eval_scannet.sh +++ b/script/depth/eval/42_eval_scannet.sh @@ -4,9 +4,9 @@ set -x subfolder=${1:-"eval"} -python eval.py \ +python script/depth/eval.py \ --base_data_dir $BASE_DATA_DIR \ - --dataset_config config/dataset/data_scannet_val.yaml \ + --dataset_config config/dataset_depth/data_scannet_val.yaml \ --alignment least_square \ --prediction_dir output/${subfolder}/scannet/prediction \ - --output_dir output/${subfolder}/scannet/eval_metric \ + --output_dir output/${subfolder}/scannet/eval_metric diff --git a/script/depth/eval/51_infer_diode.sh b/script/depth/eval/51_infer_diode.sh new file mode 100644 index 0000000..a81515f --- /dev/null +++ b/script/depth/eval/51_infer_diode.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env bash +set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-depth-v1-1"} +subfolder=${2:-"eval"} +n_ensemble=${3:-10} + +python script/depth/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 1 \ + --ensemble_size ${n_ensemble} \ + --dataset_config config/dataset_depth/data_diode_all.yaml \ + --output_dir output/${subfolder}/diode/prediction \ + --processing_res 640 \ + --resample_method bilinear diff --git a/script/eval/52_eval_diode.sh b/script/depth/eval/52_eval_diode.sh similarity index 55% rename from script/eval/52_eval_diode.sh rename to script/depth/eval/52_eval_diode.sh index c10c672..393207d 100644 --- a/script/eval/52_eval_diode.sh +++ b/script/depth/eval/52_eval_diode.sh @@ -4,9 +4,9 @@ set -x subfolder=${1:-"eval"} -python eval.py \ +python script/depth/eval.py \ --base_data_dir $BASE_DATA_DIR \ - --dataset_config config/dataset/data_diode_all.yaml \ + --dataset_config config/dataset_depth/data_diode_all.yaml \ --alignment least_square \ --prediction_dir output/${subfolder}/diode/prediction \ - --output_dir output/${subfolder}/diode/eval_metric \ + --output_dir output/${subfolder}/diode/eval_metric diff --git a/script/depth/eval_old/0_infer_eval_all.sh b/script/depth/eval_old/0_infer_eval_all.sh new file mode 100644 index 0000000..1ae80f8 --- /dev/null +++ b/script/depth/eval_old/0_infer_eval_all.sh @@ -0,0 +1,20 @@ +#!/usr/bin/env bash +set -e +set -x + +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} + +bash script/depth/eval_old/11_infer_nyu.sh ${ckpt} +bash script/depth/eval_old/12_eval_nyu.sh + +bash script/depth/eval_old/21_infer_kitti.sh ${ckpt} +bash script/depth/eval_old/22_eval_kitti.sh + +bash script/depth/eval_old/31_infer_eth3d.sh ${ckpt} +bash script/depth/eval_old/32_eval_eth3d.sh + +bash script/depth/eval_old/41_infer_scannet.sh ${ckpt} +bash script/depth/eval_old/42_eval_scannet.sh + +bash script/depth/eval_old/51_infer_diode.sh ${ckpt} +bash script/depth/eval_old/52_eval_diode.sh diff --git a/script/eval/11_infer_nyu.sh b/script/depth/eval_old/11_infer_nyu.sh similarity index 58% rename from script/eval/11_infer_nyu.sh rename to script/depth/eval_old/11_infer_nyu.sh index ad36be5..8695468 100644 --- a/script/eval/11_infer_nyu.sh +++ b/script/depth/eval_old/11_infer_nyu.sh @@ -3,15 +3,15 @@ set -e set -x # Use specified checkpoint path, otherwise, default value -ckpt=${1:-"prs-eth/marigold-v1-0"} +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} subfolder=${2:-"eval"} -python infer.py \ +python script/depth/infer.py \ --checkpoint $ckpt \ --seed 1234 \ --base_data_dir $BASE_DATA_DIR \ --denoise_steps 50 \ --ensemble_size 10 \ --processing_res 0 \ - --dataset_config config/dataset/data_nyu_test.yaml \ - --output_dir output/${subfolder}/nyu_test/prediction \ + --dataset_config config/dataset_depth/data_nyu_test.yaml \ + --output_dir output/${subfolder}/nyu_test/prediction diff --git a/script/depth/eval_old/12_eval_nyu.sh b/script/depth/eval_old/12_eval_nyu.sh new file mode 100644 index 0000000..c541c70 --- /dev/null +++ b/script/depth/eval_old/12_eval_nyu.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e +set -x + +subfolder=${1:-"eval"} + +python script/depth/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_depth/data_nyu_test.yaml \ + --alignment least_square \ + --prediction_dir output/${subfolder}/nyu_test/prediction \ + --output_dir output/${subfolder}/nyu_test/eval_metric diff --git a/script/eval/21_infer_kitti.sh b/script/depth/eval_old/21_infer_kitti.sh similarity index 70% rename from script/eval/21_infer_kitti.sh rename to script/depth/eval_old/21_infer_kitti.sh index 0eb6634..6a3fe04 100644 --- a/script/eval/21_infer_kitti.sh +++ b/script/depth/eval_old/21_infer_kitti.sh @@ -3,15 +3,15 @@ set -e set -x # Use specified checkpoint path, otherwise, default value -ckpt=${1:-"prs-eth/marigold-v1-0"} +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} subfolder=${2:-"eval"} -python infer.py \ +python script/depth/infer.py \ --checkpoint $ckpt \ --seed 1234 \ --base_data_dir $BASE_DATA_DIR \ --denoise_steps 50 \ --ensemble_size 10 \ --processing_res 0 \ - --dataset_config config/dataset/data_kitti_eigen_test.yaml \ - --output_dir output/${subfolder}/kitti_eigen_test/prediction \ + --dataset_config config/dataset_depth/data_kitti_eigen_test.yaml \ + --output_dir output/${subfolder}/kitti_eigen_test/prediction diff --git a/script/depth/eval_old/22_eval_kitti.sh b/script/depth/eval_old/22_eval_kitti.sh new file mode 100644 index 0000000..f762693 --- /dev/null +++ b/script/depth/eval_old/22_eval_kitti.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e +set -x + +subfolder=${1:-"eval"} + +python script/depth/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_depth/data_kitti_eigen_test.yaml \ + --alignment least_square \ + --prediction_dir output/${subfolder}/kitti_eigen_test/prediction \ + --output_dir output/${subfolder}/kitti_eigen_test/eval_metric diff --git a/script/eval/31_infer_eth3d.sh b/script/depth/eval_old/31_infer_eth3d.sh similarity index 66% rename from script/eval/31_infer_eth3d.sh rename to script/depth/eval_old/31_infer_eth3d.sh index 1dc7efa..efa90c6 100644 --- a/script/eval/31_infer_eth3d.sh +++ b/script/depth/eval_old/31_infer_eth3d.sh @@ -3,16 +3,16 @@ set -e set -x # Use specified checkpoint path, otherwise, default value -ckpt=${1:-"prs-eth/marigold-v1-0"} +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} subfolder=${2:-"eval"} -python infer.py \ +python script/depth/infer.py \ --checkpoint $ckpt \ --seed 1234 \ --base_data_dir $BASE_DATA_DIR \ --denoise_steps 50 \ --ensemble_size 10 \ - --dataset_config config/dataset/data_eth3d.yaml \ + --dataset_config config/dataset_depth/data_eth3d.yaml \ --output_dir output/${subfolder}/eth3d/prediction \ --processing_res 756 \ - --resample_method bilinear \ \ No newline at end of file + --resample_method bilinear diff --git a/script/depth/eval_old/32_eval_eth3d.sh b/script/depth/eval_old/32_eval_eth3d.sh new file mode 100644 index 0000000..d8dc1fc --- /dev/null +++ b/script/depth/eval_old/32_eval_eth3d.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +set -e +set -x + +subfolder=${1:-"eval"} + +python script/depth/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_depth/data_eth3d.yaml \ + --alignment least_square \ + --prediction_dir output/${subfolder}/eth3d/prediction \ + --output_dir output/${subfolder}/eth3d/eval_metric \ + --alignment_max_res 1024 diff --git a/script/eval/41_infer_scannet.sh b/script/depth/eval_old/41_infer_scannet.sh similarity index 58% rename from script/eval/41_infer_scannet.sh rename to script/depth/eval_old/41_infer_scannet.sh index 15006ea..32c854e 100644 --- a/script/eval/41_infer_scannet.sh +++ b/script/depth/eval_old/41_infer_scannet.sh @@ -3,15 +3,15 @@ set -e set -x # Use specified checkpoint path, otherwise, default value -ckpt=${1:-"prs-eth/marigold-v1-0"} +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} subfolder=${2:-"eval"} -python infer.py \ +python script/depth/infer.py \ --checkpoint $ckpt \ --seed 1234 \ --base_data_dir $BASE_DATA_DIR \ --denoise_steps 50 \ --ensemble_size 10 \ --processing_res 0 \ - --dataset_config config/dataset/data_scannet_val.yaml \ - --output_dir output/${subfolder}/scannet/prediction \ + --dataset_config config/dataset_depth/data_scannet_val.yaml \ + --output_dir output/${subfolder}/scannet/prediction diff --git a/script/depth/eval_old/42_eval_scannet.sh b/script/depth/eval_old/42_eval_scannet.sh new file mode 100644 index 0000000..0fedc25 --- /dev/null +++ b/script/depth/eval_old/42_eval_scannet.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e +set -x + +subfolder=${1:-"eval"} + +python script/depth/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_depth/data_scannet_val.yaml \ + --alignment least_square \ + --prediction_dir output/${subfolder}/scannet/prediction \ + --output_dir output/${subfolder}/scannet/eval_metric diff --git a/script/eval/51_infer_diode.sh b/script/depth/eval_old/51_infer_diode.sh similarity index 66% rename from script/eval/51_infer_diode.sh rename to script/depth/eval_old/51_infer_diode.sh index 2ec6cc2..551e334 100644 --- a/script/eval/51_infer_diode.sh +++ b/script/depth/eval_old/51_infer_diode.sh @@ -3,16 +3,16 @@ set -e set -x # Use specified checkpoint path, otherwise, default value -ckpt=${1:-"prs-eth/marigold-v1-0"} +ckpt=${1:-"prs-eth/marigold-depth-v1-0"} subfolder=${2:-"eval"} -python infer.py \ +python script/depth/infer.py \ --checkpoint $ckpt \ --seed 1234 \ --base_data_dir $BASE_DATA_DIR \ --denoise_steps 50 \ --ensemble_size 10 \ - --dataset_config config/dataset/data_diode_all.yaml \ + --dataset_config config/dataset_depth/data_diode_all.yaml \ --output_dir output/${subfolder}/diode/prediction \ --processing_res 640 \ - --resample_method bilinear \ + --resample_method bilinear diff --git a/script/depth/eval_old/52_eval_diode.sh b/script/depth/eval_old/52_eval_diode.sh new file mode 100644 index 0000000..393207d --- /dev/null +++ b/script/depth/eval_old/52_eval_diode.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e +set -x + +subfolder=${1:-"eval"} + +python script/depth/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_depth/data_diode_all.yaml \ + --alignment least_square \ + --prediction_dir output/${subfolder}/diode/prediction \ + --output_dir output/${subfolder}/diode/eval_metric diff --git a/infer.py b/script/depth/infer.py similarity index 70% rename from infer.py rename to script/depth/infer.py index 4f88721..1da6571 100644 --- a/infer.py +++ b/script/depth/infer.py @@ -1,5 +1,4 @@ -# Last modified: 2024-05-24 -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -13,76 +12,93 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) import argparse import logging -import os - import numpy as np +import os import torch -from omegaconf import OmegaConf from PIL import Image +from omegaconf import OmegaConf from torch.utils.data import DataLoader from tqdm.auto import tqdm -from marigold import MarigoldPipeline -from src.util.seeding import seed_all +from marigold import MarigoldDepthPipeline, MarigoldDepthOutput from src.dataset import ( BaseDepthDataset, DatasetMode, get_dataset, get_pred_name, ) +from src.util.seeding import seed_all + if "__main__" == __name__: logging.basicConfig(level=logging.INFO) # -------------------- Arguments -------------------- parser = argparse.ArgumentParser( - description="Run single-image depth estimation using Marigold." + description="Marigold : Monocular Depth Estimation : Dataset Inference" ) parser.add_argument( "--checkpoint", type=str, - default="prs-eth/marigold-v1-0", + default="prs-eth/marigold-depth-v1-1", help="Checkpoint path or hub name.", ) - - # dataset setting parser.add_argument( "--dataset_config", type=str, required=True, - help="Path to config file of evaluation dataset.", + help="Path to the config file of the evaluation dataset.", ) parser.add_argument( "--base_data_dir", type=str, required=True, - help="Path to base data directory.", + help="Base path to the datasets.", ) - parser.add_argument( "--output_dir", type=str, required=True, help="Output directory." ) - - # inference setting parser.add_argument( "--denoise_steps", type=int, - default=50, # quantitative evaluation uses 50 steps - help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed.", + required=True, + help="Diffusion denoising steps.", + ) + parser.add_argument( + "--processing_res", + type=int, + required=True, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution.", ) parser.add_argument( "--ensemble_size", type=int, - default=10, - help="Number of predictions to be ensembled, more inference gives better results but runs slower.", + required=True, + help="Number of predictions to be ensembled.", ) parser.add_argument( "--half_precision", @@ -90,27 +106,25 @@ action="store_true", help="Run with half-precision (16-bit float), might lead to suboptimal result.", ) - - # resolution setting - parser.add_argument( - "--processing_res", - type=int, - default=0, - help="Maximum resolution of processing. 0 for using input image resolution. Default: 0.", - ) parser.add_argument( "--output_processing_res", action="store_true", - help="When input is resized, out put depth at resized operating resolution. Default: False.", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", ) parser.add_argument( "--resample_method", - type=str, + choices=["bilinear", "bicubic", "nearest"], default="bilinear", - help="Resampling method used to resize images. This can be one of 'bilinear' or 'nearest'.", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", + ) + parser.add_argument( + "--seed", + type=int, + default=None, + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", ) - - parser.add_argument("--seed", type=int, default=None, help="Random seed.") args = parser.parse_args() @@ -129,13 +143,14 @@ match_input_res = not args.output_processing_res if 0 == processing_res and match_input_res is False: logging.warning( - "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, due to the padding and pooling properties of conv layers." + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." ) resample_method = args.resample_method seed = args.seed - print(f"arguments: {args}") + logging.debug(f"Arguments: {args}") # -------------------- Preparation -------------------- # Print out config @@ -151,6 +166,7 @@ import time seed = int(time.time()) + seed_all(seed) def check_directory(directory): @@ -189,6 +205,7 @@ def check_directory(directory): dataset: BaseDepthDataset = get_dataset( cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.RGB_ONLY ) + assert isinstance(dataset, BaseDepthDataset) dataloader = DataLoader(dataset, batch_size=1, num_workers=0) @@ -203,32 +220,39 @@ def check_directory(directory): dtype = torch.float32 variant = None - pipe = MarigoldPipeline.from_pretrained( + pipe: MarigoldDepthPipeline = MarigoldDepthPipeline.from_pretrained( checkpoint_path, variant=variant, torch_dtype=dtype ) try: pipe.enable_xformers_memory_efficient_attention() except ImportError: - logging.debug("run without xformers") + logging.debug("Proceeding without xformers") pipe = pipe.to(device) logging.info( - f"scale_invariant: {pipe.scale_invariant}, shift_invariant: {pipe.shift_invariant}" + f"Loaded depth pipeline: scale_invariant={pipe.scale_invariant}, shift_invariant={pipe.shift_invariant}" ) # -------------------- Inference and saving -------------------- with torch.no_grad(): for batch in tqdm( - dataloader, desc=f"Inferencing on {dataset.disp_name}", leave=True + dataloader, desc=f"Depth Inference on {dataset.disp_name}", leave=True ): # Read input image rgb_int = batch["rgb_int"].squeeze().numpy().astype(np.uint8) # [3, H, W] rgb_int = np.moveaxis(rgb_int, 0, -1) # [H, W, 3] input_image = Image.fromarray(rgb_int) - # Predict depth - pipe_out = pipe( + # Random number generator + if seed is None: + generator = None + else: + generator = torch.Generator(device=device) + generator.manual_seed(seed) + + # Perform inference + pipe_out: MarigoldDepthOutput = pipe( input_image, denoising_steps=denoise_steps, ensemble_size=ensemble_size, @@ -238,6 +262,7 @@ def check_directory(directory): color_map=None, show_progress_bar=False, resample_method=resample_method, + generator=generator, ) depth_pred: np.ndarray = pipe_out.depth_np diff --git a/run.py b/script/depth/run.py similarity index 76% rename from run.py rename to script/depth/run.py index 029e9fb..a5c28f3 100644 --- a/run.py +++ b/script/depth/run.py @@ -1,4 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -12,23 +12,37 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) import argparse import logging -import os -from glob import glob - import numpy as np +import os import torch from PIL import Image +from glob import glob from tqdm.auto import tqdm -from marigold import MarigoldPipeline +from marigold import MarigoldDepthPipeline, MarigoldDepthOutput EXTENSION_LIST = [".jpg", ".jpeg", ".png"] @@ -38,38 +52,42 @@ # -------------------- Arguments -------------------- parser = argparse.ArgumentParser( - description="Run single-image depth estimation using Marigold." + description="Marigold : Monocular Depth Estimation : Multi-image Inference" ) parser.add_argument( "--checkpoint", type=str, - default="prs-eth/marigold-lcm-v1-0", + default="prs-eth/marigold-depth-v1-1", help="Checkpoint path or hub name.", ) - parser.add_argument( "--input_rgb_dir", type=str, required=True, help="Path to the input image folder.", ) - parser.add_argument( "--output_dir", type=str, required=True, help="Output directory." ) - - # inference setting parser.add_argument( "--denoise_steps", type=int, default=None, - help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed. For the original (DDIM) version, it's recommended to use 10-50 steps, while for LCM 1-4 steps.", + help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed. If set to " + "`None`, default value will be read from checkpoint.", + ) + parser.add_argument( + "--processing_res", + type=int, + default=None, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution; `None` resolves the best default from the model checkpoint. Default: `None`", ) parser.add_argument( "--ensemble_size", type=int, - default=5, - help="Number of predictions to be ensembled, more inference gives better results but runs slower.", + default=1, + help="Number of predictions to be ensembled. Default: `1`.", ) parser.add_argument( "--half_precision", @@ -77,42 +95,31 @@ action="store_true", help="Run with half-precision (16-bit float), might lead to suboptimal result.", ) - - # resolution setting - parser.add_argument( - "--processing_res", - type=int, - default=None, - help="Maximum resolution of processing. 0 for using input image resolution. Default: 768.", - ) parser.add_argument( "--output_processing_res", action="store_true", - help="When input is resized, out put depth at resized operating resolution. Default: False.", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", ) parser.add_argument( "--resample_method", choices=["bilinear", "bicubic", "nearest"], default="bilinear", - help="Resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic` or `nearest`. Default: `bilinear`", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", ) - - # depth map colormap parser.add_argument( "--color_map", type=str, default="Spectral", - help="Colormap used to render depth predictions.", + help="Colormap used to visualize depth predictions.", ) - - # other settings parser.add_argument( "--seed", type=int, default=None, - help="Reproducibility seed. Set to `None` for unseeded inference.", + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", ) - parser.add_argument( "--batch_size", type=int, @@ -122,7 +129,7 @@ parser.add_argument( "--apple_silicon", action="store_true", - help="Flag of running on Apple Silicon.", + help="Use Apple Silicon for faster inference (subject to availability).", ) args = parser.parse_args() @@ -141,7 +148,8 @@ match_input_res = not args.output_processing_res if 0 == processing_res and match_input_res is False: logging.warning( - "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, due to the padding and pooling properties of conv layers." + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." ) resample_method = args.resample_method @@ -166,7 +174,7 @@ # -------------------- Device -------------------- if apple_silicon: if torch.backends.mps.is_available() and torch.backends.mps.is_built(): - device = torch.device("mps:0") + device = torch.device("mps") else: device = torch.device("cpu") logging.warning("MPS is not available. Running on CPU will be slow.") @@ -202,7 +210,7 @@ dtype = torch.float32 variant = None - pipe: MarigoldPipeline = MarigoldPipeline.from_pretrained( + pipe: MarigoldDepthPipeline = MarigoldDepthPipeline.from_pretrained( checkpoint_path, variant=variant, torch_dtype=dtype ) @@ -213,7 +221,7 @@ pipe = pipe.to(device) logging.info( - f"scale_invariant: {pipe.scale_invariant}, shift_invariant: {pipe.shift_invariant}" + f"Loaded depth pipeline: scale_invariant={pipe.scale_invariant}, shift_invariant={pipe.shift_invariant}" ) # Print out config @@ -230,7 +238,7 @@ with torch.no_grad(): os.makedirs(output_dir, exist_ok=True) - for rgb_path in tqdm(rgb_filename_list, desc="Estimating depth", leave=True): + for rgb_path in tqdm(rgb_filename_list, desc="Depth Inference", leave=True): # Read input image input_image = Image.open(rgb_path) @@ -241,8 +249,8 @@ generator = torch.Generator(device=device) generator.manual_seed(seed) - # Predict depth - pipe_out = pipe( + # Perform inference + pipe_out: MarigoldDepthOutput = pipe( input_image, denoising_steps=denoise_steps, ensemble_size=ensemble_size, @@ -260,7 +268,7 @@ # Save as npy rgb_name_base = os.path.splitext(os.path.basename(rgb_path))[0] - pred_name_base = rgb_name_base + "_pred" + pred_name_base = rgb_name_base + "_depth" npy_save_path = os.path.join(output_dir_npy, f"{pred_name_base}.npy") if os.path.exists(npy_save_path): logging.warning(f"Existing file: '{npy_save_path}' will be overwritten") diff --git a/train.py b/script/depth/train.py similarity index 83% rename from train.py rename to script/depth/train.py index 47bd87d..1e08d00 100644 --- a/train.py +++ b/script/depth/train.py @@ -1,7 +1,4 @@ -# An official reimplemented version of Marigold training script -# Last modified: 2024-05-17 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -15,24 +12,39 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + import argparse import logging import os import shutil -from datetime import datetime, timedelta -from typing import List - import torch +from datetime import datetime, timedelta from omegaconf import OmegaConf from torch.utils.data import ConcatDataset, DataLoader from tqdm import tqdm +from typing import List, Union -from marigold.marigold_pipeline import MarigoldPipeline +from marigold import MarigoldDepthPipeline from src.dataset import BaseDepthDataset, DatasetMode, get_dataset from src.dataset.mixed_sampler import MixedBatchSampler from src.trainer import get_trainer_cls @@ -54,26 +66,29 @@ ) from src.util.slurm_util import get_local_scratch_dir, is_on_slurm + if "__main__" == __name__: t_start = datetime.now() - print(f"start at {t_start}") + logging.info(f"Started at {t_start}") # -------------------- Arguments -------------------- - parser = argparse.ArgumentParser(description="Train your cute model!") + parser = argparse.ArgumentParser( + description="Marigold : Monocular Depth Estimation : Training" + ) parser.add_argument( "--config", type=str, - default="config/train_marigold.yaml", + default="config/train_marigold_depth.yaml", help="Path to config file.", ) parser.add_argument( "--resume_run", action="store", default=None, - help="Path of checkpoint to be resumed. If given, will ignore --config, and checkpoint in the config", + help="Path of checkpoint to be resumed. If given, will ignore --config, and checkpoint in the config.", ) parser.add_argument( - "--output_dir", type=str, default=None, help="directory to save checkpoints" + "--output_dir", type=str, default=None, help="Directory to save checkpoints." ) parser.add_argument("--no_cuda", action="store_true", help="Do not use cuda.") parser.add_argument( @@ -82,25 +97,29 @@ default=-1, help="Save checkpoint and exit after X minutes.", ) - parser.add_argument("--no_wandb", action="store_true", help="run without wandb") + parser.add_argument( + "--no_wandb", + action="store_true", + help="Run without Weights and Biases logging.", + ) parser.add_argument( "--do_not_copy_data", action="store_true", - help="On Slurm cluster, do not copy data to local scratch", + help="On Slurm cluster, do not copy data to the local scratch.", ) parser.add_argument( - "--base_data_dir", type=str, default=None, help="directory of training data" + "--base_data_dir", type=str, default=None, help="Base path to the datasets." ) parser.add_argument( "--base_ckpt_dir", type=str, default=None, - help="directory of pretrained checkpoint", + help="Base path to the pretrained checkpoints.", ) parser.add_argument( "--add_datetime_prefix", action="store_true", - help="Add datetime to the output folder name", + help="Add datetime to the output folder name.", ) args = parser.parse_args() @@ -120,7 +139,7 @@ # -------------------- Initialization -------------------- # Resume previous run if resume_run is not None: - print(f"Resume run: {resume_run}") + logging.info(f"Resuming run: {resume_run}") out_dir_run = os.path.dirname(os.path.dirname(resume_run)) job_name = os.path.basename(out_dir_run) # Resume config file @@ -167,20 +186,20 @@ if not args.no_wandb: if resume_run is not None: wandb_id = load_wandb_job_id(out_dir_run) - wandb_cfg_dic = { + wandb_cfg_dict = { "id": wandb_id, "resume": "must", **cfg.wandb, } else: - wandb_cfg_dic = { + wandb_cfg_dict = { "config": dict(cfg), "name": job_name, "mode": "online", **cfg.wandb, } - wandb_cfg_dic.update({"dir": out_dir_run}) - wandb_run = init_wandb(enable=True, **wandb_cfg_dic) + wandb_cfg_dict.update({"dir": out_dir_run}) + wandb_run = init_wandb(enable=True, **wandb_cfg_dict) save_wandb_job_id(wandb_run, out_dir_run) else: init_wandb(enable=False) @@ -253,7 +272,7 @@ depth_transform: DepthNormalizerBase = get_depth_normalizer( cfg_normalizer=cfg.depth_normalization ) - train_dataset: BaseDepthDataset = get_dataset( + train_dataset: Union[BaseDepthDataset, List[BaseDepthDataset]] = get_dataset( cfg_data.train, base_data_dir=base_data_dir, mode=DatasetMode.TRAIN, @@ -263,9 +282,9 @@ logging.debug("Augmentation: ", cfg.augmentation) if "mixed" == cfg_data.train.name: dataset_ls = train_dataset - assert len(cfg_data.train.prob_ls) == len( - dataset_ls - ), "Lengths don't match: `prob_ls` and `dataset_list`" + assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( + "Lengths don't match: `prob_ls` and `dataset_list`" + ) concat_dataset = ConcatDataset(dataset_ls) mixed_sampler = MixedBatchSampler( src_dataset_ls=dataset_ls, @@ -290,9 +309,9 @@ ) # Validation dataset val_loaders: List[DataLoader] = [] - for _val_dic in cfg_data.val: + for _val_dict in cfg_data.val: _val_dataset = get_dataset( - _val_dic, + _val_dict, base_data_dir=base_data_dir, mode=DatasetMode.EVAL, ) @@ -306,9 +325,9 @@ # Visualization dataset vis_loaders: List[DataLoader] = [] - for _vis_dic in cfg_data.vis: + for _vis_dict in cfg_data.vis: _vis_dataset = get_dataset( - _vis_dic, + _vis_dict, base_data_dir=base_data_dir, mode=DatasetMode.EVAL, ) @@ -322,7 +341,7 @@ # -------------------- Model -------------------- _pipeline_kwargs = cfg.pipeline.kwargs if cfg.pipeline.kwargs is not None else {} - model = MarigoldPipeline.from_pretrained( + model = MarigoldDepthPipeline.from_pretrained( os.path.join(base_ckpt_dir, cfg.model.pretrained_path), **_pipeline_kwargs ) @@ -341,7 +360,6 @@ model=model, train_dataloader=train_loader, device=device, - base_ckpt_dir=base_ckpt_dir, out_dir_ckpt=out_dir_ckpt, out_dir_eval=out_dir_eval, out_dir_vis=out_dir_vis, diff --git a/script/download_sample_data.sh b/script/download_sample_data.sh index 2915094..998b504 100644 --- a/script/download_sample_data.sh +++ b/script/download_sample_data.sh @@ -6,12 +6,12 @@ data_dir=input mkdir -p $data_dir cd $data_dir -if test -f "in-the-wild_example.tar" ; then - echo "Tar file exists: in-the-wild_example.tar" +if test -f "in-the-wild_example2.tar" ; then + echo "Tar file exists: in-the-wild_example2.tar" exit 1 fi -wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/in-the-wild_example.tar +wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/in-the-wild_example2.tar -tar -xf in-the-wild_example.tar -rm in-the-wild_example.tar +tar -xf in-the-wild_example2.tar +rm in-the-wild_example2.tar diff --git a/script/download_weights.sh b/script/download_weights.sh index 6e13842..1b24168 100644 --- a/script/download_weights.sh +++ b/script/download_weights.sh @@ -12,7 +12,14 @@ if [ -d $checkpoint_name ]; then exit 0 fi -wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/checkpoint/${checkpoint_name}.tar +if [[ "$checkpoint_name" == *"normals"* || "$checkpoint_name" == *"iid"* ]]; then + wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/marigold_normals/checkpoint/${checkpoint_name}.zip + unzip ${checkpoint_name}.zip + rm -f ${checkpoint_name}.zip + +else + wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/checkpoint/${checkpoint_name}.tar + tar -xf ${checkpoint_name}.tar + rm -f ${checkpoint_name}.tar +fi -tar -xf ${checkpoint_name}.tar -rm ${checkpoint_name}.tar diff --git a/script/eval/0_infer_eval_all.sh b/script/eval/0_infer_eval_all.sh deleted file mode 100644 index 1e25bd5..0000000 --- a/script/eval/0_infer_eval_all.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env bash -set -e -set -x - -bash script/eval/11_infer_nyu.sh -bash script/eval/12_eval_nyu.sh - -bash script/eval/21_infer_kitti.sh -bash script/eval/22_eval_kitti.sh - -bash script/eval/31_infer_eth3d.sh -bash script/eval/32_eval_eth3d.sh - -bash script/eval/41_infer_scannet.sh -bash script/eval/42_eval_scannet.sh - -bash script/eval/51_infer_diode.sh -bash script/eval/52_eval_diode.sh \ No newline at end of file diff --git a/script/iid/dataset_preprocess/hypersim_lighting/README.md b/script/iid/dataset_preprocess/hypersim_lighting/README.md new file mode 100644 index 0000000..eed4f9b --- /dev/null +++ b/script/iid/dataset_preprocess/hypersim_lighting/README.md @@ -0,0 +1,18 @@ +# Hypersim IID-Lighting Preprocessing + +## Download + +Download the [Hypersim](https://github.com/apple/ml-hypersim) dataset using [this script](https://github.com/apple/ml-hypersim/blob/20f398f4387aeca73175494d6a2568f37f372150/code/python/tools/dataset_download_images.py). + +Download the scene split file from [here](https://github.com/apple/ml-hypersim/blob/main/evermotion_dataset/analysis/metadata_images_split_scene_v1.csv). + +## Preprocess +Run the preprocessing script: +```bash +export BASE_DATA_DIR= # Set target data directory + +python script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py --split_csv /path/to/metadata_images_split_scene_v1.csv --dataset_dir path_to_downloaded_hypersim --output_dir ${BASE_DATA_DIR}/hypersim +``` +The preprocessing script filters out samples with invalid albedo, shading and residual values. For training our Marigold-IID-Lighting model, we used both filtered train and val split as training data (the complete filtered sample list can be found [here](../../../../data_split/hypersim_iid/hypersim_train_filtered.txt)). + + diff --git a/script/iid/dataset_preprocess/hypersim_lighting/hypersim_util.py b/script/iid/dataset_preprocess/hypersim_lighting/hypersim_util.py new file mode 100644 index 0000000..2d1b861 --- /dev/null +++ b/script/iid/dataset_preprocess/hypersim_lighting/hypersim_util.py @@ -0,0 +1,74 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +from pylab import count_nonzero, clip, np + + +# Adapted from https://github.com/apple/ml-hypersim/blob/main/code/python/tools/scene_generate_images_tonemap.py +def tone_map_hypersim(rgb, entity_id_map): + assert (entity_id_map != 0).all() + + gamma = 1.0 / 2.2 # standard gamma correction exponent + inv_gamma = 1.0 / gamma + percentile = ( + 90 # we want this percentile brightness value in the unmodified image... + ) + brightness_nth_percentile_desired = 0.8 # ...to be this bright after scaling + + valid_mask = entity_id_map != -1 + + if count_nonzero(valid_mask) == 0: + scale = 1.0 # if there are no valid pixels, then set scale to 1.0 + else: + brightness = ( + 0.3 * rgb[:, :, 0] + 0.59 * rgb[:, :, 1] + 0.11 * rgb[:, :, 2] + ) # "CCIR601 YIQ" method for computing brightness + brightness_valid = brightness[valid_mask] + + eps = 0.0001 # if the kth percentile brightness value in the unmodified image is less than this, set the scale to 0.0 to avoid divide-by-zero + brightness_nth_percentile_current = np.percentile(brightness_valid, percentile) + + if brightness_nth_percentile_current < eps: + scale = 0.0 + else: + # Snavely uses the following expression in the code at https://github.com/snavely/pbrs_tonemapper/blob/master/tonemap_rgbe.py: + # scale = np.exp(np.log(brightness_nth_percentile_desired)*inv_gamma - np.log(brightness_nth_percentile_current)) + # + # Our expression below is equivalent, but is more intuitive, because it follows more directly from the expression: + # (scale*brightness_nth_percentile_current)^gamma = brightness_nth_percentile_desired + + scale = ( + np.power(brightness_nth_percentile_desired, inv_gamma) + / brightness_nth_percentile_current + ) + + rgb_color_tm = np.power(np.maximum(scale * rgb, 0), gamma) + rgb_color_tm = clip(rgb_color_tm, 0, 1) + return rgb_color_tm diff --git a/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py b/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py new file mode 100644 index 0000000..c0d9ff3 --- /dev/null +++ b/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py @@ -0,0 +1,343 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import argparse +import math +import h5py +import numpy as np +import os +import cv2 +import pandas as pd +import functools +import json +from pathlib import Path +from tqdm import tqdm + +from hypersim_util import tone_map_hypersim + + +def psnr(image1, image2): + if image1.shape != image2.shape: + raise ValueError("Images must have the same dimensions") + mse = np.mean((image1.astype(np.float32) - image2.astype(np.float32)) ** 2) + if mse == 0: + return float("inf") + max_pixel = 255.0 + psnr = 20 * np.log10(max_pixel / np.sqrt(mse)) + return psnr + + +def tone_map(img, scale): + gamma = 1.0 / 2.2 + img_scaled = scale * img + img_scaled_clipped = np.maximum(img_scaled, 0) + mask_scaled_negative = img_scaled != img_scaled_clipped + assert np.count_nonzero(mask_scaled_negative) == 0, ( + f"{img_scaled[mask_scaled_negative]=}" + ) + img = np.power(img_scaled_clipped, gamma) + img = np.clip(img, 0, 1) + return img + + +def compute_tone_map_scale(img, valid_mask=None): + inv_gamma = 2.2 + percentile = 90 + brightness_nth_percentile_desired = 0.8 + + brightness = 0.3 * img[:, :, 0] + 0.59 * img[:, :, 1] + 0.11 * img[:, :, 2] + brightness = brightness + + if valid_mask is not None: + num_valid = np.count_nonzero(valid_mask) + if num_valid == 0: + return 1.0 + brightness = brightness[valid_mask] + else: + brightness = brightness.flatten() + + eps = 0.0001 + brightness_nth_percentile_current = np.percentile(brightness, percentile) + + if brightness_nth_percentile_current < eps: + return 0.0 + + scale = float( + np.power(brightness_nth_percentile_desired, inv_gamma) + / brightness_nth_percentile_current + ) + + return scale + + +def get_path_stem(row, dataset_dir, modality): + return os.path.join( + dataset_dir, + row.scene_name, + "images", + f"scene_{row.camera_name}_{modality}_hdf5", + f"frame.{row.frame_id:04d}", + ) + + +def touch(path, msg=None): + if msg is None: + Path(path).touch() + else: + with open(path, "w") as f: + f.write(msg) + + +def finalize(path_marker, tmp_dir, out_dir, msg=None): + touch(path_marker, msg=msg) + return None + + +def process_sample(row, dataset_dir, target_dir, split): + path_stem_final = get_path_stem(row, dataset_dir, "final") + path_stem_geometry = get_path_stem(row, dataset_dir, "geometry") + + out_dir = os.path.join(target_dir, row.scene_name) + tmp_dir = out_dir + "_invalid" + status_file = os.path.join( + tmp_dir, f"status_{row.camera_name}_fr{row.frame_id:04d}.txt" + ) + + os.makedirs(tmp_dir, exist_ok=True) + + path_color = path_stem_final + ".color.hdf5" + path_albedo = path_stem_final + ".diffuse_reflectance.hdf5" + path_shading = path_stem_final + ".diffuse_illumination.hdf5" + path_residual = path_stem_final + ".residual.hdf5" + path_render_entity_id = path_stem_geometry + ".render_entity_id.hdf5" + + with h5py.File(path_render_entity_id, "r") as f: + render_entity_id = np.array(f["dataset"]).astype(int) + + mask_invalid = render_entity_id == -1 + num_invalid = np.count_nonzero(mask_invalid) + if num_invalid > 0: + return finalize(status_file, tmp_dir, out_dir, f"{num_invalid=}") + + with h5py.File(path_color, "r") as f: + color = np.array(f["dataset"]).astype(float) + with h5py.File(path_albedo, "r") as f: + albedo = np.array(f["dataset"]).astype(float) + with h5py.File(path_shading, "r") as f: + shading = np.array(f["dataset"]).astype(float) + with h5py.File(path_residual, "r") as f: + residual = np.array(f["dataset"]).astype(float) + + stats = { + "albedo_min": np.min(albedo), + "albedo_max": np.max(albedo), + "albedo_mean": np.mean(albedo), + "albedo_std": np.std(albedo), + "albedo_98": np.percentile(albedo, 98), + "shading_min": np.min(shading), + "shading_max": np.max(shading), + "shading_mean": np.mean(shading), + "shading_std": np.std(shading), + "shading_98": np.percentile(shading, 98), + "residual_min": np.min(residual), + "residual_max": np.max(residual), + "residual_mean": np.mean(residual), + "residual_std": np.std(residual), + "residual_02": np.percentile(residual, 2), + "residual_98": np.percentile(residual, 98), + } + + # do checks and reject non-valid samples in the train and val split + if split != "test": + shading_computed_color = albedo * shading + residual + if not np.isfinite(shading_computed_color).all(): + return finalize( + status_file, + tmp_dir, + out_dir, + "shading_computed_color has non-finite values", + ) + + nan_stats = { + "albedo_nan": np.isnan(albedo), + "shading_nan": np.isnan(shading), + "residual_nan": np.isnan(residual), + } + + if np.any(nan_stats["albedo_nan"]): + return finalize( + status_file, tmp_dir, out_dir, f"{nan_stats['albedo_nan'].sum()}" + ) + + if np.any(nan_stats["shading_nan"]): + return finalize( + status_file, tmp_dir, out_dir, f"{nan_stats['shading_nan'].sum()}" + ) + + if np.any(nan_stats["residual_nan"]): + return finalize( + status_file, tmp_dir, out_dir, f"{nan_stats['residual_nan'].sum()}" + ) + + if stats["albedo_min"] < 0 or stats["albedo_max"] > 1: + return finalize( + status_file, + tmp_dir, + out_dir, + f"{stats['albedo_min']:0.4f} {stats['albedo_max']:0.4f}", + ) + if stats["shading_min"] < 0: + return finalize( + status_file, tmp_dir, out_dir, f"{stats['shading_min']:0.4f}" + ) + if stats["residual_min"] < 0: + return finalize( + status_file, tmp_dir, out_dir, f"{stats['residual_min']:0.4f}" + ) + + color_tmscale = compute_tone_map_scale(color) + if not math.isfinite(color_tmscale): + return finalize( + status_file, + tmp_dir, + out_dir, + f"Tone mapping scale is not finite: {color_tmscale}", + ) + color_tm = tone_map(color, color_tmscale) + color_tm = (color_tm * 255).astype(np.uint8) + + residual_cutoff = stats[ + "shading_98" + ] # not a mistake, we want shading and residual to be on the same scale + + clipped_shading = np.clip(shading, 0, stats["shading_98"]) + clipped_residual = np.clip(residual, 0, residual_cutoff) + clipped_computed_color = albedo * clipped_shading + clipped_residual + clipped_computed_color_tmscale = compute_tone_map_scale(clipped_computed_color) + clipped_computed_color_tm = tone_map( + clipped_computed_color, clipped_computed_color_tmscale + ) + clipped_computed_color_tm = (clipped_computed_color_tm * 255).astype(np.uint8) + clipped_color_tm_psnr = psnr(color_tm, clipped_computed_color_tm) + + if clipped_color_tm_psnr < 40: + return finalize( + status_file, tmp_dir, out_dir, f"{clipped_color_tm_psnr=:0.4f}" + ) + + os.makedirs(out_dir, exist_ok=True) + + # Tone map + rgb_color_tm = tone_map_hypersim(color, render_entity_id) + rgb_int = (rgb_color_tm * 255).astype(np.uint8) # [H, W, RGB] + + # Save RGB + rgb_name = f"rgb_{row.camera_name}_fr{row.frame_id:04d}.png" + rgb_path = os.path.join(out_dir, rgb_name) + cv2.imwrite( + rgb_path, + cv2.cvtColor(rgb_int, cv2.COLOR_RGB2BGR), + ) + # save albedo + albedo_name = f"albedo_{row.camera_name}_fr{row.frame_id:04d}.npy" + albedo_path = os.path.join(out_dir, albedo_name) + np.save(albedo_path, np.clip(albedo, 0, 1.0)) + + # save shading + shading_name = f"shading_{row.camera_name}_fr{row.frame_id:04d}.npy" + shading_path = os.path.join(out_dir, shading_name) + np.save(shading_path, shading) + + residual_name = f"residual_{row.camera_name}_fr{row.frame_id:04d}.npy" + residual_path = os.path.join(out_dir, residual_name) + np.save(residual_path, residual) + + shading_stats_name = f"shading_stats_{row.camera_name}_fr{row.frame_id:04d}.json" + shading_stats_path = os.path.join(out_dir, shading_stats_name) + with open(shading_stats_path, "w") as fp: + json.dump(stats, fp) + + out = { + "path_rgb": os.path.join("split_placeholder", row.scene_name, rgb_name), + "path_albedo": os.path.join("split_placeholder", row.scene_name, albedo_name), + "path_shading": os.path.join("split_placeholder", row.scene_name, shading_name), + "path_residual": os.path.join( + "split_placeholder", row.scene_name, residual_name + ), + "path_stats": os.path.join( + "split_placeholder", row.scene_name, shading_stats_name + ), + } + + return out + + +def process_split(split, df, dataset_dir, output_dir): + target_dir = os.path.join(output_dir, split) + partial_process_sample = functools.partial( + process_sample, dataset_dir=dataset_dir, target_dir=target_dir, split=split + ) + df = df[df.split_partition_name == split] + out = [] + + for _, df_row in tqdm(df.iterrows(), total=len(df)): + result = partial_process_sample(df_row) + if result is not None: + assert isinstance(result, dict) + out.append(result) + + with open(os.path.join(output_dir, f"filename_list_{split}.txt"), "w") as f: + lines = [ + f"{o['path_rgb'].replace('split_placeholder', split)} {o['path_albedo'].replace('split_placeholder', split)} {o['path_shading'].replace('split_placeholder', split)} {o['path_residual'].replace('split_placeholder', split)} {o['path_stats'].replace('split_placeholder', split)}" + for o in out + ] + f.writelines("\n".join(lines)) + + +if "__main__" == __name__: + parser = argparse.ArgumentParser() + parser.add_argument( + "--split_csv", + type=str, + default="data/hypersim/metadata_images_split_scene_v1.csv", + ) + parser.add_argument("--dataset_dir", required=True) + parser.add_argument("--output_dir", required=True) + args = parser.parse_args() + + split_csv = args.split_csv + dataset_dir = args.dataset_dir + output_dir = args.output_dir + + df = pd.read_csv(split_csv) + df = df[df.included_in_public_release] + for split in ["train", "val", "test"]: + process_split(split, df, dataset_dir, output_dir) + print("Preprocessing finished") diff --git a/script/iid/dataset_preprocess/interiorverse_appearance/README.md b/script/iid/dataset_preprocess/interiorverse_appearance/README.md new file mode 100644 index 0000000..187aaff --- /dev/null +++ b/script/iid/dataset_preprocess/interiorverse_appearance/README.md @@ -0,0 +1,29 @@ +# InteriorVerse IID-Appearance Preprocessing + +## Download + +Download the [InteriorVerse](https://interiorverse.github.io/#download) dataset, you will need to apply for access first following the instructions on their webpage. + +After download and unzip, the file structure should look like this: +```text +your/raw/InteriorVerse/ +└── scenes_85/ + └── L3D124S8ENDIDQ4AKYUI5NGMLUF3P3WC888/ + ├── 000_albedo.exr + ├── 000_depth.exr + ├── 000_im.exr + ├── 000_mask.exr + ├── 000_material.exr + ├── 000_normal.exr + └── ... +``` +Note that we only use scenes_85, scenes_120 is not needed. + +## Preprocess +We only need `albedo`, `material`, `im` and `mask` images, use `preprocess_interiorverse_iid.py` to tar them: +```bash +python preprocess_interiorverse_iid.py --output_data_dir ${BASE_DATA_DIR} --raw_data_dir your/raw/InteriorVerse +``` + + + diff --git a/script/iid/dataset_preprocess/interiorverse_appearance/preprocess_interiorverse_iid.py b/script/iid/dataset_preprocess/interiorverse_appearance/preprocess_interiorverse_iid.py new file mode 100644 index 0000000..6d82b55 --- /dev/null +++ b/script/iid/dataset_preprocess/interiorverse_appearance/preprocess_interiorverse_iid.py @@ -0,0 +1,94 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import argparse +import os +import tarfile +from tqdm import tqdm + + +def create_interiorverse_tar(raw_data_dir, base_data_dir): + # File types we want to include + target_types = ["im", "mask", "albedo", "material"] + + # Setup paths + scenes_path = os.path.join(raw_data_dir, "scenes_85") + output_dir = os.path.join(base_data_dir, "interiorverse") + os.makedirs(output_dir, exist_ok=True) + output_tar = os.path.join(output_dir, "InteriorVerse.tar") + + # Create tar file + with tarfile.open(output_tar, "w") as tar: + # Get scene directories in scenes_85 + scene_dirs = os.listdir(scenes_path) + + # Process each scene directory with progress bar + for scene_dir in tqdm(scene_dirs, desc="Processing scenes"): + scene_path = os.path.join(scenes_path, scene_dir) + + # Process files in scene directory + if os.path.isdir(scene_path): + files = [ + f + for f in os.listdir(scene_path) + if any(f"_{type}." in f for type in target_types) + ] + + # Add files to tar + for file in files: + full_path = os.path.join(scene_path, file) + arcname = os.path.join("scenes_85", scene_dir, file) + tar.add(full_path, arcname=arcname) + print(file) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Create tar file for InteriorVerse dataset" + ) + parser.add_argument( + "--output_data_dir", + type=str, + required=True, + help="Path to base data directory. The same as in train.py, infer.py or eval.py", + ) + parser.add_argument( + "--raw_data_dir", + type=str, + required=True, + help="The path of raw InteriorVerse dataset. The same as your/raw/InteriorVerse/ in README.md", + ) + args = parser.parse_args() + + print( + f"Creating tar file under: {os.path.join(args.output_data_dir, 'interiorverse')}" + ) + create_interiorverse_tar(args.raw_data_dir, args.output_data_dir) + print("Done!") diff --git a/script/iid/eval.py b/script/iid/eval.py new file mode 100644 index 0000000..9460173 --- /dev/null +++ b/script/iid/eval.py @@ -0,0 +1,239 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from omegaconf import OmegaConf +from tabulate import tabulate +from torch.utils.data import DataLoader +from torchmetrics.image import ( + PeakSignalNoiseRatio, + StructuralSimilarityIndexMeasure, + LearnedPerceptualImagePatchSimilarity, +) +from tqdm.auto import tqdm + +from marigold.util.image_util import srgb2linear, linear2srgb +from src.dataset import DatasetMode, get_dataset +from src.util.metric import MetricTracker, compute_iid_metric + + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Intrinsic Image Decomposition : Metrics Evaluation" + ) + parser.add_argument( + "--prediction_dir", + type=str, + required=True, + help="Directory with predictions obtained from inference.", + ) + parser.add_argument( + "--target_names", + nargs="+", + default=["albedo", "material"], + type=str, + help="A list of predicted targets to evaluate.", + ) + parser.add_argument( + "--targets_to_eval_in_linear_space", + nargs="*", + default=[None], + type=str, + help="A list of targets to evaluate in linear space (as opposed to sRGB by default). Defaults to an empty list.", + ) + parser.add_argument( + "--dataset_config", + type=str, + required=True, + help="Path to the config file of the evaluation dataset.", + ) + parser.add_argument( + "--base_data_dir", + type=str, + required=True, + help="Base path to the datasets.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--use_mask", action="store_true", help="Evaluate only in the masked region." + ) + parser.add_argument("--no_cuda", action="store_true", help="Run without cuda.") + + args = parser.parse_args() + + os.makedirs(args.output_dir, exist_ok=True) + + # -------------------- Device -------------------- + cuda_avail = torch.cuda.is_available() and not args.no_cuda + device = torch.device("cuda" if cuda_avail else "cpu") + logging.info(f"Device: {device}") + + # -------------------- Initialize Metrics -------------------- + psnr_metric = PeakSignalNoiseRatio(data_range=1.0).to(device) + ssim_metric = StructuralSimilarityIndexMeasure(data_range=1.0).to(device) + lpips_metric = LearnedPerceptualImagePatchSimilarity(normalize=True).to(device) + + target_names = args.target_names + + targets_to_eval_in_linear_space = args.targets_to_eval_in_linear_space + for tn in targets_to_eval_in_linear_space: + if tn is not None and tn not in target_names: + raise ValueError( + f"'{tn}' specified in targets_to_eval_in_linear_space does not belong to the predicted targets: " + f"{target_names=}" + ) + + metrics_dict = {} + for target_name in target_names: + metrics_dict["psnr_" + target_name] = psnr_metric + metrics_dict["ssim_" + target_name] = ssim_metric + metrics_dict["lpips_" + target_name] = lpips_metric + + # -------------------- Data -------------------- + cfg_data = OmegaConf.load(args.dataset_config) + + dataset = get_dataset( + cfg_data, base_data_dir=args.base_data_dir, mode=DatasetMode.EVAL + ) + + dataloader = DataLoader(dataset, batch_size=1, num_workers=0) + + # -------------------- Eval metrics -------------------- + metric_tracker = MetricTracker(*metrics_dict.keys()) + metric_tracker.reset() + + # -------------------- Results Dictionary -------------------- + results = {} + + # -------------------- Per-sample metrics file -------------------- + per_sample_filename = os.path.join(args.output_dir, "per_sample_metrics.csv") + # write title + with open(per_sample_filename, "w+") as f: + f.write("filename,") + f.write(",".join(metrics_dict.keys())) + f.write("\n") + + # -------------------- Evaluate -------------------- + for data in tqdm(dataloader, desc="Evaluating"): + rgb_name = data["rgb_relative_path"][0] + + # load predictions + rgb_basename = os.path.basename(rgb_name) + scene_dir = os.path.join(args.prediction_dir, os.path.dirname(rgb_name)) + rgb_basename_without_extension = os.path.splitext(rgb_basename)[0] + + sample_metric = [] + + for target_name in target_names: + target_gt = data[target_name].to(device) + + pred_basename_target = ( + rgb_basename_without_extension + "_" + target_name + ".npy" + ) + pred_path_target = os.path.join(scene_dir, pred_basename_target) + if not os.path.exists(pred_path_target): + logging.warning(f"Can't find prediction: {pred_path_target}") + continue + target_pred = ( + torch.from_numpy(np.load((pred_path_target))).unsqueeze(0).to(device) + ) # [1,3,H,W] + + # IID Appearance model predicts all modalities in sRGB space + if target_name in targets_to_eval_in_linear_space: + target_gt = srgb2linear(target_gt) + target_pred = srgb2linear(target_pred) + + # Hypersim GT and IID Lighting model predictions are in linear space + # We evaluate albedo in sRGB space + if ( + "hypersim" in cfg_data.name + and len(target_names) == 3 + and target_name == "albedo" + ): + # linear --> sRGB + target_gt = linear2srgb(target_gt) + target_pred = linear2srgb(target_pred) + + for metric_name in ("psnr", "ssim", "lpips"): + _metric_name = metric_name + "_" + target_name + + if args.use_mask: + _mask_name = "mask" + "_" + target_name + valid_mask = data[_mask_name].to(device) + else: + valid_mask = None + _metric = compute_iid_metric( + target_pred, + target_gt, + target_name, + metric_name, + metrics_dict[_metric_name], + valid_mask, + ) + sample_metric.append(_metric.__str__()) + metric_tracker.update(_metric_name, _metric) + + # Save per-sample metric + with open(per_sample_filename, "a+") as f: + f.write(rgb_name + ",") + f.write(",".join(sample_metric)) + f.write("\n") + + # -------------------- Save metrics to file -------------------- + eval_text = f"Evaluation metrics:\n\ + of predictions: {args.prediction_dir}\n\ + on dataset: {dataset.disp_name}\n\ + with samples in: {dataset.filename_ls_path}\n" + + eval_text += tabulate( + [metric_tracker.result().keys(), metric_tracker.result().values()] + ) + + metrics_filename = "eval_metrics" + metrics_filename += ".txt" + + _save_to = os.path.join(args.output_dir, metrics_filename) + with open(_save_to, "w+") as f: + f.write(eval_text) + logging.info(f"Evaluation metrics saved to {_save_to}") diff --git a/script/iid/eval/11_infer_appearance_interiorverse.sh b/script/iid/eval/11_infer_appearance_interiorverse.sh new file mode 100644 index 0000000..6ceb339 --- /dev/null +++ b/script/iid/eval/11_infer_appearance_interiorverse.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-iid-appearance-v1-1"} +subfolder=${2:-"eval"} + +python script/iid/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --processing_res 640 \ + --dataset_config config/dataset_iid/data_appearance_interiorverse_test.yaml \ + --output_dir output/${subfolder}/iid_appearance_interiorverse_test/prediction diff --git a/script/iid/eval/12_eval_appearance_interiorverse.sh b/script/iid/eval/12_eval_appearance_interiorverse.sh new file mode 100644 index 0000000..32e6d54 --- /dev/null +++ b/script/iid/eval/12_eval_appearance_interiorverse.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/iid/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_iid/data_appearance_interiorverse_test.yaml \ + --prediction_dir output/${subfolder}/iid_appearance_interiorverse_test/prediction \ + --output_dir output/${subfolder}/iid_appearance_interiorverse_test/eval_metric \ + --target_names albedo material \ + --targets_to_eval_in_linear_space material \ No newline at end of file diff --git a/script/iid/eval/21_infer_lighting_hypersim.sh b/script/iid/eval/21_infer_lighting_hypersim.sh new file mode 100644 index 0000000..98c88b0 --- /dev/null +++ b/script/iid/eval/21_infer_lighting_hypersim.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-iid-lighting-v1-1"} +subfolder=${2:-"eval"} + +python script/iid/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 1 \ + --processing_res 0 \ + --dataset_config config/dataset_iid/data_lighting_hypersim_test.yaml \ + --output_dir output/${subfolder}/iid_lighting_hypersim_test/prediction diff --git a/script/iid/eval/22_eval_lighting_hypersim.sh b/script/iid/eval/22_eval_lighting_hypersim.sh new file mode 100644 index 0000000..22c0015 --- /dev/null +++ b/script/iid/eval/22_eval_lighting_hypersim.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/iid/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_iid/data_lighting_hypersim_test.yaml \ + --prediction_dir output/${subfolder}/iid_lighting_hypersim_test/prediction \ + --output_dir output/${subfolder}/iid_lighting_hypersim_test/eval_metric \ + --target_names albedo shading residual \ + --use_mask diff --git a/script/iid/infer.py b/script/iid/infer.py new file mode 100644 index 0000000..be4e71f --- /dev/null +++ b/script/iid/infer.py @@ -0,0 +1,287 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from omegaconf import OmegaConf +from torch.utils.data import DataLoader +from tqdm.auto import tqdm + +from marigold import MarigoldIIDOutput, MarigoldIIDPipeline +from marigold.util.image_util import float2int +from src.dataset import DatasetMode, get_dataset, BaseIIDDataset +from src.util.seeding import seed_all + + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Intrinsic Image Decomposition : Dataset Inference" + ) + parser.add_argument( + "--checkpoint", + type=str, + default="prs-eth/marigold-iid-appearance-v1-1", + help="Checkpoint path or hub name.", + ) + parser.add_argument( + "--dataset_config", + type=str, + required=True, + help="Path to the config file of the evaluation dataset.", + ) + parser.add_argument( + "--base_data_dir", + type=str, + required=True, + help="Base path to the datasets.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--denoise_steps", + type=int, + required=True, + help="Diffusion denoising steps.", + ) + parser.add_argument( + "--processing_res", + type=int, + required=True, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution.", + ) + parser.add_argument( + "--ensemble_size", + type=int, + required=True, + help="Number of predictions to be ensembled.", + ) + parser.add_argument( + "--half_precision", + "--fp16", + action="store_true", + help="Run with half-precision (16-bit float), might lead to suboptimal result.", + ) + parser.add_argument( + "--output_processing_res", + action="store_true", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", + ) + parser.add_argument( + "--resample_method", + choices=["bilinear", "bicubic", "nearest"], + default="bilinear", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", + ) + parser.add_argument( + "--seed", + type=int, + default=None, + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", + ) + + args = parser.parse_args() + + checkpoint_path = args.checkpoint + dataset_config = args.dataset_config + base_data_dir = args.base_data_dir + output_dir = args.output_dir + + denoise_steps = args.denoise_steps + ensemble_size = args.ensemble_size + if ensemble_size > 15: + logging.warning("Running with large ensemble size will be slow.") + half_precision = args.half_precision + + processing_res = args.processing_res + match_input_res = not args.output_processing_res + if 0 == processing_res and match_input_res is False: + logging.warning( + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." + ) + resample_method = args.resample_method + + seed = args.seed + + logging.debug(f"Arguments: {args}") + + # -------------------- Preparation -------------------- + # Print out config + logging.info( + f"Inference settings: checkpoint = `{checkpoint_path}`, " + f"with denoise_steps = {denoise_steps}, ensemble_size = {ensemble_size}, " + f"processing resolution = {processing_res}, seed = {seed}; " + f"dataset config = `{dataset_config}`." + ) + + # Random seed + if seed is None: + import time + + seed = int(time.time()) + + seed_all(seed) + + def check_directory(directory): + if os.path.exists(directory): + response = ( + input( + f"The directory '{directory}' already exists. Are you sure to continue? (y/n): " + ) + .strip() + .lower() + ) + if "y" == response: + pass + elif "n" == response: + print("Exiting...") + exit() + else: + print("Invalid input. Please enter 'y' (for Yes) or 'n' (for No).") + check_directory(directory) # Recursive call to ask again + + check_directory(output_dir) + os.makedirs(output_dir, exist_ok=True) + logging.info(f"output dir = {output_dir}") + + # -------------------- Device -------------------- + if torch.cuda.is_available(): + device = torch.device("cuda") + else: + device = torch.device("cpu") + logging.warning("CUDA is not available. Running on CPU will be slow.") + logging.info(f"device = {device}") + + # -------------------- Data -------------------- + cfg_data = OmegaConf.load(dataset_config) + + dataset: BaseIIDDataset = get_dataset( + cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.RGB_ONLY + ) + assert isinstance(dataset, BaseIIDDataset) + + dataloader = DataLoader(dataset, batch_size=1, num_workers=0) + + # -------------------- Model -------------------- + if half_precision: + dtype = torch.float16 + variant = "fp16" + logging.warning( + f"Running with half precision ({dtype}), might lead to suboptimal result." + ) + else: + dtype = torch.float32 + variant = None + + pipe: MarigoldIIDPipeline = MarigoldIIDPipeline.from_pretrained( + checkpoint_path, variant=variant, torch_dtype=dtype + ) + target_names = pipe.target_names + + if not ( + isinstance(target_names, list) + and len(target_names) > 0 + and all(isinstance(s, str) for s in target_names) + ): + raise RuntimeError(f"Invalid {target_names=}") + + try: + pipe.enable_xformers_memory_efficient_attention() + except ImportError: + logging.debug("Proceeding without xformers") + + pipe = pipe.to(device) + logging.info("Loaded IID pipeline") + + # -------------------- Inference and saving -------------------- + with torch.no_grad(): + for batch in tqdm( + dataloader, desc=f"IID Inference on {dataset.disp_name}", leave=True + ): + # Read input image + rgb_float = batch["rgb"] + input_image = float2int( + rgb_float + ) # The pipeline needs int image in [0, 255] as input. + + # Random number generator + if seed is None: + generator = None + else: + generator = torch.Generator(device=device) + generator.manual_seed(seed) + + # Perform inference + pipe_out: MarigoldIIDOutput = pipe( + input_image, + denoising_steps=denoise_steps, + ensemble_size=ensemble_size, + processing_res=processing_res, + match_input_res=match_input_res, + batch_size=0, + show_progress_bar=False, + resample_method=resample_method, + generator=generator, + ) + + # Save predictions + rgb_filename = batch["rgb_relative_path"][0] + rgb_basename = os.path.basename(rgb_filename) + scene_dir = os.path.join(output_dir, os.path.dirname(rgb_filename)) + if not os.path.exists(scene_dir): + os.makedirs(scene_dir) + rgb_basename_without_extension = os.path.splitext(rgb_basename)[0] + + for target_name in target_names: + target_pred: np.ndarray = pipe_out[target_name].array + pred_basename_target = ( + rgb_basename_without_extension + "_" + target_name + ".npy" + ) + save_to_target = os.path.join(scene_dir, pred_basename_target) + if os.path.exists(save_to_target): + logging.warning( + f"Existing file: '{save_to_target}' will be overwritten" + ) + np.save(save_to_target, target_pred) # [3,H,W] diff --git a/script/iid/run.py b/script/iid/run.py new file mode 100644 index 0000000..616f2d8 --- /dev/null +++ b/script/iid/run.py @@ -0,0 +1,270 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from PIL import Image +from glob import glob +from tqdm.auto import tqdm + +from marigold import MarigoldIIDPipeline, MarigoldIIDOutput +from marigold.util.image_util import chw2hwc + +EXTENSION_LIST = [".jpg", ".jpeg", ".png"] + + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Intrinsic Image Decomposition : Multi-image Inference" + ) + parser.add_argument( + "--checkpoint", + type=str, + default="prs-eth/marigold-iid-appearance-v1-1", + help="Checkpoint path or hub name.", + ) + parser.add_argument( + "--input_rgb_dir", + type=str, + required=True, + help="Path to the input image folder.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--denoise_steps", + type=int, + default=None, + help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed. If set to " + "`None`, default value will be read from checkpoint.", + ) + parser.add_argument( + "--processing_res", + type=int, + default=None, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution; `None` resolves the best default from the model checkpoint. Default: `None`", + ) + parser.add_argument( + "--ensemble_size", + type=int, + default=1, + help="Number of predictions to be ensembled. Default: `1`.", + ) + parser.add_argument( + "--half_precision", + "--fp16", + action="store_true", + help="Run with half-precision (16-bit float), might lead to suboptimal result.", + ) + parser.add_argument( + "--output_processing_res", + action="store_true", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", + ) + parser.add_argument( + "--resample_method", + choices=["bilinear", "bicubic", "nearest"], + default="bilinear", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", + ) + parser.add_argument( + "--seed", + type=int, + default=None, + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", + ) + parser.add_argument( + "--batch_size", + type=int, + default=0, + help="Inference batch size. Default: 0 (will be set automatically).", + ) + parser.add_argument( + "--apple_silicon", + action="store_true", + help="Use Apple Silicon for faster inference (subject to availability).", + ) + + args = parser.parse_args() + + checkpoint_path = args.checkpoint + input_rgb_dir = args.input_rgb_dir + output_dir = args.output_dir + + denoise_steps = args.denoise_steps + ensemble_size = args.ensemble_size + if ensemble_size > 15: + logging.warning("Running with large ensemble size will be slow.") + half_precision = args.half_precision + + processing_res = args.processing_res + match_input_res = not args.output_processing_res + if 0 == processing_res and match_input_res is False: + logging.warning( + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." + ) + resample_method = args.resample_method + + seed = args.seed + batch_size = args.batch_size + apple_silicon = args.apple_silicon + if apple_silicon and 0 == batch_size: + batch_size = 1 # set default batchsize + + # -------------------- Preparation -------------------- + # Output directories + + if "appearance" in checkpoint_path: + output_dir_vis = os.path.join(output_dir, "iid_appearance_vis") + output_dir_npy = os.path.join(output_dir, "iid_appearance_npy") + else: + output_dir_vis = os.path.join(output_dir, "iid_lighting_vis") + output_dir_npy = os.path.join(output_dir, "iid_lighting_npy") + os.makedirs(output_dir, exist_ok=True) + os.makedirs(output_dir_vis, exist_ok=True) + os.makedirs(output_dir_npy, exist_ok=True) + logging.info(f"output dir = {output_dir}") + + # -------------------- Device -------------------- + if apple_silicon: + if torch.backends.mps.is_available() and torch.backends.mps.is_built(): + device = torch.device("mps") + else: + device = torch.device("cpu") + logging.warning("MPS is not available. Running on CPU will be slow.") + else: + if torch.cuda.is_available(): + device = torch.device("cuda") + else: + device = torch.device("cpu") + logging.warning("CUDA is not available. Running on CPU will be slow.") + logging.info(f"device = {device}") + + # -------------------- Data -------------------- + rgb_filename_list = glob(os.path.join(input_rgb_dir, "*")) + rgb_filename_list = [ + f for f in rgb_filename_list if os.path.splitext(f)[1].lower() in EXTENSION_LIST + ] + rgb_filename_list = sorted(rgb_filename_list) + n_images = len(rgb_filename_list) + if n_images > 0: + logging.info(f"Found {n_images} images") + else: + logging.error(f"No image found in '{input_rgb_dir}'") + exit(1) + + # -------------------- Model -------------------- + if half_precision: + dtype = torch.float16 + variant = "fp16" + logging.info( + f"Running with half precision ({dtype}), might lead to suboptimal result." + ) + else: + dtype = torch.float32 + variant = None + + pipe: MarigoldIIDPipeline = MarigoldIIDPipeline.from_pretrained( + checkpoint_path, variant=variant, torch_dtype=dtype + ) + + try: + pipe.enable_xformers_memory_efficient_attention() + except ImportError: + pass # run without xformers + + pipe = pipe.to(device) + logging.info("Loaded IID pipeline") + + # Print out config + logging.info( + f"Inference settings: checkpoint = `{checkpoint_path}`, " + f"with predicted target names: {pipe.target_names}, " + f"denoise_steps = {denoise_steps or pipe.default_denoising_steps}, " + f"ensemble_size = {ensemble_size}, " + f"processing resolution = {processing_res or pipe.default_processing_resolution}, " + f"seed = {seed}; " + ) + + # -------------------- Inference and saving -------------------- + with torch.no_grad(): + os.makedirs(output_dir, exist_ok=True) + + for rgb_path in tqdm(rgb_filename_list, desc="IID Inference", leave=True): + # Read input image + input_image = Image.open(rgb_path) + + # Random number generator + if seed is None: + generator = None + else: + generator = torch.Generator(device=device) + generator.manual_seed(seed) + + # Perform inference + pipe_out: MarigoldIIDOutput = pipe( + input_image, + denoising_steps=denoise_steps, + ensemble_size=ensemble_size, + processing_res=processing_res, + match_input_res=match_input_res, + batch_size=batch_size, + show_progress_bar=True, + resample_method=resample_method, + generator=generator, + ) + + rgb_name_base = os.path.splitext(os.path.basename(rgb_path))[0] + for target_name in pipe.target_names: + target_entry = pipe_out[target_name] + target_pred = chw2hwc(target_entry.array) # [H,W,3] + np.save( + os.path.join(output_dir_npy, f"{rgb_name_base}_{target_name}.npy"), + target_pred, + ) + target_entry.image.save( + os.path.join(output_dir_vis, f"{rgb_name_base}_{target_name}.png") + ) diff --git a/script/iid/train.py b/script/iid/train.py new file mode 100644 index 0000000..79a7b58 --- /dev/null +++ b/script/iid/train.py @@ -0,0 +1,373 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import os +import shutil +import torch +from datetime import datetime, timedelta +from omegaconf import OmegaConf +from torch.utils.data import ConcatDataset, DataLoader +from tqdm import tqdm +from typing import List, Union + +from marigold import MarigoldIIDPipeline +from src.dataset import BaseIIDDataset, DatasetMode, get_dataset +from src.dataset.mixed_sampler import MixedBatchSampler +from src.trainer import get_trainer_cls +from src.util.config_util import ( + find_value_in_omegaconf, + recursive_load_config, +) +from src.util.logging_util import ( + config_logging, + init_wandb, + load_wandb_job_id, + log_slurm_job_id, + save_wandb_job_id, + tb_logger, +) +from src.util.slurm_util import get_local_scratch_dir, is_on_slurm + + +if "__main__" == __name__: + t_start = datetime.now() + logging.info(f"Started at {t_start}") + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Intrinsic Image Decomposition : Training" + ) + parser.add_argument( + "--config", + type=str, + default="config/train_marigold_iid.yaml", + help="Path to config file.", + ) + parser.add_argument( + "--resume_run", + action="store", + default=None, + help="Path of checkpoint to be resumed. If given, will ignore --config, and checkpoint in the config.", + ) + parser.add_argument( + "--output_dir", type=str, default=None, help="Directory to save checkpoints." + ) + parser.add_argument("--no_cuda", action="store_true", help="Do not use cuda.") + parser.add_argument( + "--exit_after", + type=int, + default=-1, + help="Save checkpoint and exit after X minutes.", + ) + parser.add_argument( + "--no_wandb", + action="store_true", + help="Run without Weights and Biases logging.", + ) + parser.add_argument( + "--do_not_copy_data", + action="store_true", + help="On Slurm cluster, do not copy data to the local scratch.", + ) + parser.add_argument( + "--base_data_dir", type=str, default=None, help="Base path to the datasets." + ) + parser.add_argument( + "--base_ckpt_dir", + type=str, + default=None, + help="Base path to the pretrained checkpoints.", + ) + parser.add_argument( + "--add_datetime_prefix", + action="store_true", + help="Add datetime to the output folder name.", + ) + + args = parser.parse_args() + resume_run = args.resume_run + output_dir = args.output_dir + base_data_dir = ( + args.base_data_dir + if args.base_data_dir is not None + else os.environ["BASE_DATA_DIR"] + ) + base_ckpt_dir = ( + args.base_ckpt_dir + if args.base_ckpt_dir is not None + else os.environ["BASE_CKPT_DIR"] + ) + + # -------------------- Initialization -------------------- + # Resume previous run + if resume_run is not None: + logging.info(f"Resuming run: {resume_run}") + out_dir_run = os.path.dirname(os.path.dirname(resume_run)) + job_name = os.path.basename(out_dir_run) + # Resume config file + cfg = OmegaConf.load(os.path.join(out_dir_run, "config.yaml")) + else: + # Run from start + cfg = recursive_load_config(args.config) + # Full job name + pure_job_name = os.path.basename(args.config).split(".")[0] + # Add time prefix + if args.add_datetime_prefix: + job_name = f"{t_start.strftime('%y_%m_%d-%H_%M_%S')}-{pure_job_name}" + else: + job_name = pure_job_name + + # Output dir + if output_dir is not None: + out_dir_run = os.path.join(output_dir, job_name) + else: + out_dir_run = os.path.join("./output", job_name) + os.makedirs(out_dir_run, exist_ok=False) + + cfg_data = cfg.dataset + + # Other directories + out_dir_ckpt = os.path.join(out_dir_run, "checkpoint") + if not os.path.exists(out_dir_ckpt): + os.makedirs(out_dir_ckpt) + out_dir_tb = os.path.join(out_dir_run, "tensorboard") + if not os.path.exists(out_dir_tb): + os.makedirs(out_dir_tb) + out_dir_eval = os.path.join(out_dir_run, "evaluation") + if not os.path.exists(out_dir_eval): + os.makedirs(out_dir_eval) + out_dir_vis = os.path.join(out_dir_run, "visualization") + if not os.path.exists(out_dir_vis): + os.makedirs(out_dir_vis) + + # -------------------- Logging settings -------------------- + config_logging(cfg.logging, out_dir=out_dir_run) + logging.debug(f"config: {cfg}") + + # Initialize wandb + if not args.no_wandb: + if resume_run is not None: + wandb_id = load_wandb_job_id(out_dir_run) + wandb_cfg_dict = { + "id": wandb_id, + "resume": "must", + **cfg.wandb, + } + else: + wandb_cfg_dict = { + "config": dict(cfg), + "name": job_name, + "mode": "online", + **cfg.wandb, + } + wandb_cfg_dict.update({"dir": out_dir_run}) + wandb_run = init_wandb(enable=True, **wandb_cfg_dict) + save_wandb_job_id(wandb_run, out_dir_run) + else: + init_wandb(enable=False) + + # Tensorboard (should be initialized after wandb) + tb_logger.set_dir(out_dir_tb) + + log_slurm_job_id(step=0) + + # -------------------- Device -------------------- + cuda_avail = torch.cuda.is_available() and not args.no_cuda + device = torch.device("cuda" if cuda_avail else "cpu") + logging.info(f"device = {device}") + + # -------------------- Snapshot of code and config -------------------- + if resume_run is None: + _output_path = os.path.join(out_dir_run, "config.yaml") + with open(_output_path, "w+") as f: + OmegaConf.save(config=cfg, f=f) + logging.info(f"Config saved to {_output_path}") + # Copy and tar code on the first run + _temp_code_dir = os.path.join(out_dir_run, "code_tar") + _code_snapshot_path = os.path.join(out_dir_run, "code_snapshot.tar") + os.system( + f"rsync --relative -arhvz --quiet --filter=':- .gitignore' --exclude '.git' . '{_temp_code_dir}'" + ) + os.system(f"tar -cf {_code_snapshot_path} {_temp_code_dir}") + os.system(f"rm -rf {_temp_code_dir}") + logging.info(f"Code snapshot saved to: {_code_snapshot_path}") + + # -------------------- Copy data to local scratch (Slurm) -------------------- + if is_on_slurm() and (not args.do_not_copy_data): + # local scratch dir + original_data_dir = base_data_dir + base_data_dir = os.path.join(get_local_scratch_dir(), "Marigold_data") + # copy data + required_data_list = find_value_in_omegaconf("dir", cfg_data) + # if cfg_train.visualize.init_latent_path is not None: + # required_data_list.append(cfg_train.visualize.init_latent_path) + required_data_list = list(set(required_data_list)) + logging.info(f"Required_data_list: {required_data_list}") + for d in tqdm(required_data_list, desc="Copy data to local scratch"): + ori_dir = os.path.join(original_data_dir, d) + dst_dir = os.path.join(base_data_dir, d) + os.makedirs(os.path.dirname(dst_dir), exist_ok=True) + if os.path.isfile(ori_dir): + shutil.copyfile(ori_dir, dst_dir) + elif os.path.isdir(ori_dir): + shutil.copytree(ori_dir, dst_dir) + logging.info(f"Data copied to: {base_data_dir}") + + # -------------------- Gradient accumulation steps -------------------- + eff_bs = cfg.dataloader.effective_batch_size + accumulation_steps = eff_bs / cfg.dataloader.max_train_batch_size + assert int(accumulation_steps) == accumulation_steps + accumulation_steps = int(accumulation_steps) + + logging.info( + f"Effective batch size: {eff_bs}, accumulation steps: {accumulation_steps}" + ) + + # -------------------- Data -------------------- + loader_seed = cfg.dataloader.seed + if loader_seed is None: + loader_generator = None + else: + loader_generator = torch.Generator().manual_seed(loader_seed) + + # Training dataset + train_dataset: Union[BaseIIDDataset, List[BaseIIDDataset]] = get_dataset( + cfg_data.train, + base_data_dir=base_data_dir, + mode=DatasetMode.TRAIN, + augmentation_args=cfg.augmentation, + ) + logging.debug("Augmentation: ", cfg.augmentation) + if "mixed" == cfg_data.train.name: + dataset_ls = train_dataset + assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( + "Lengths don't match: `prob_ls` and `dataset_list`" + ) + concat_dataset = ConcatDataset(dataset_ls) + mixed_sampler = MixedBatchSampler( + src_dataset_ls=dataset_ls, + batch_size=cfg.dataloader.max_train_batch_size, + drop_last=True, + prob=cfg_data.train.prob_ls, + shuffle=True, + generator=loader_generator, + ) + train_loader = DataLoader( + concat_dataset, + batch_sampler=mixed_sampler, + num_workers=cfg.dataloader.num_workers, + ) + else: + train_loader = DataLoader( + dataset=train_dataset, + batch_size=cfg.dataloader.max_train_batch_size, + num_workers=cfg.dataloader.num_workers, + shuffle=True, + generator=loader_generator, + ) + # Validation dataset + val_loaders: List[DataLoader] = [] + for _val_dict in cfg_data.val: + _val_dataset = get_dataset( + _val_dict, + base_data_dir=base_data_dir, + mode=DatasetMode.EVAL, + ) + _val_loader = DataLoader( + dataset=_val_dataset, + batch_size=1, + shuffle=False, + num_workers=cfg.dataloader.num_workers, + ) + val_loaders.append(_val_loader) + + # Visualization dataset + vis_loaders: List[DataLoader] = [] + for _vis_dict in cfg_data.vis: + _vis_dataset = get_dataset( + _vis_dict, + base_data_dir=base_data_dir, + mode=DatasetMode.EVAL, + ) + _vis_loader = DataLoader( + dataset=_vis_dataset, + batch_size=1, + shuffle=False, + num_workers=cfg.dataloader.num_workers, + ) + vis_loaders.append(_vis_loader) + + # -------------------- Model -------------------- + _pipeline_kwargs = cfg.pipeline.kwargs if cfg.pipeline.kwargs is not None else {} + model = MarigoldIIDPipeline.from_pretrained( + os.path.join(base_ckpt_dir, cfg.model.pretrained_path), **_pipeline_kwargs + ) + + # -------------------- Trainer -------------------- + # Exit time + if args.exit_after > 0: + t_end = t_start + timedelta(minutes=args.exit_after) + logging.info(f"Will exit at {t_end}") + else: + t_end = None + + trainer_cls = get_trainer_cls(cfg.trainer.name) + logging.debug(f"Trainer: {trainer_cls}") + trainer = trainer_cls( + cfg=cfg, + model=model, + train_dataloader=train_loader, + device=device, + out_dir_ckpt=out_dir_ckpt, + out_dir_eval=out_dir_eval, + out_dir_vis=out_dir_vis, + accumulation_steps=accumulation_steps, + val_dataloaders=val_loaders, + vis_dataloaders=vis_loaders, + ) + + # -------------------- Checkpoint -------------------- + if resume_run is not None: + trainer.load_checkpoint( + resume_run, load_trainer_state=True, resume_lr_scheduler=True + ) + + # -------------------- Training & Evaluation Loop -------------------- + try: + trainer.train(t_end=t_end) + except Exception as e: + logging.exception(e) diff --git a/script/normals/dataset_preprocess/hypersim/README.md b/script/normals/dataset_preprocess/hypersim/README.md new file mode 100644 index 0000000..b7e1bf3 --- /dev/null +++ b/script/normals/dataset_preprocess/hypersim/README.md @@ -0,0 +1,19 @@ +# Hypersim Normals Preprocessing + +## Download + +Download the [Hypersim](https://github.com/apple/ml-hypersim) dataset using [this script](https://github.com/apple/ml-hypersim/blob/20f398f4387aeca73175494d6a2568f37f372150/code/python/tools/dataset_download_images.py). + +Download the scene split file from [here](https://github.com/apple/ml-hypersim/blob/main/evermotion_dataset/analysis/metadata_images_split_scene_v1.csv). + +## Process dataset + +Run the preprocessing script: + +```bash +export BASE_DATA_DIR= # Set target data directory + +python script/dataset_preprocess_normals/hypersim/preprocess_hypersim_normals.py --split_csv /path/to/metadata_images_split_scene_v1.csv --dataset_dir path_to_downloaded_hypersim --output_dir ${BASE_DATA_DIR}/hypersim +``` + +Note that we trained our model using all splits (train, val and test) of Hypersim since we don't evaluate on it. The complete filtered sample list used for training can be found [here](../../../../data_split/hypersim_normals/hypersim_filtered_all.txt). diff --git a/script/normals/dataset_preprocess/hypersim/hypersim_util.py b/script/normals/dataset_preprocess/hypersim/hypersim_util.py new file mode 100644 index 0000000..6096fbb --- /dev/null +++ b/script/normals/dataset_preprocess/hypersim/hypersim_util.py @@ -0,0 +1,74 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +from pylab import count_nonzero, clip, np + + +# Adapted from https://github.com/apple/ml-hypersim/blob/main/code/python/tools/scene_generate_images_tonemap.py +def tone_map(rgb, entity_id_map): + assert (entity_id_map != 0).all() + + gamma = 1.0 / 2.2 # standard gamma correction exponent + inv_gamma = 1.0 / gamma + percentile = ( + 90 # we want this percentile brightness value in the unmodified image... + ) + brightness_nth_percentile_desired = 0.8 # ...to be this bright after scaling + + valid_mask = entity_id_map != -1 + + if count_nonzero(valid_mask) == 0: + scale = 1.0 # if there are no valid pixels, then set scale to 1.0 + else: + brightness = ( + 0.3 * rgb[:, :, 0] + 0.59 * rgb[:, :, 1] + 0.11 * rgb[:, :, 2] + ) # "CCIR601 YIQ" method for computing brightness + brightness_valid = brightness[valid_mask] + + eps = 0.0001 # if the kth percentile brightness value in the unmodified image is less than this, set the scale to 0.0 to avoid divide-by-zero + brightness_nth_percentile_current = np.percentile(brightness_valid, percentile) + + if brightness_nth_percentile_current < eps: + scale = 0.0 + else: + # Snavely uses the following expression in the code at https://github.com/snavely/pbrs_tonemapper/blob/master/tonemap_rgbe.py: + # scale = np.exp(np.log(brightness_nth_percentile_desired)*inv_gamma - np.log(brightness_nth_percentile_current)) + # + # Our expression below is equivalent, but is more intuitive, because it follows more directly from the expression: + # (scale*brightness_nth_percentile_current)^gamma = brightness_nth_percentile_desired + + scale = ( + np.power(brightness_nth_percentile_desired, inv_gamma) + / brightness_nth_percentile_current + ) + + rgb_color_tm = np.power(np.maximum(scale * rgb, 0), gamma) + rgb_color_tm = clip(rgb_color_tm, 0, 1) + return rgb_color_tm diff --git a/script/normals/dataset_preprocess/hypersim/preprocess_hypersim_normals.py b/script/normals/dataset_preprocess/hypersim/preprocess_hypersim_normals.py new file mode 100644 index 0000000..424b0d6 --- /dev/null +++ b/script/normals/dataset_preprocess/hypersim/preprocess_hypersim_normals.py @@ -0,0 +1,222 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import argparse +import cv2 +import h5py +import numpy as np +import os +import pandas as pd +import sklearn.preprocessing +from tqdm import tqdm + +from hypersim_util import tone_map + +IMG_WIDTH = 1024 +IMG_HEIGHT = 768 +FOCAL_LENGTH = 886.81 + +if "__main__" == __name__: + parser = argparse.ArgumentParser() + parser.add_argument( + "--split_csv", + type=str, + default="data/hypersim/metadata_images_split_scene_v1.csv", + ) + parser.add_argument("--dataset_dir", required=True) + parser.add_argument("--output_dir", required=True) + + args = parser.parse_args() + + split_csv = args.split_csv + dataset_dir = args.dataset_dir + output_dir = args.output_dir + + # %% + raw_meta_df = pd.read_csv(split_csv) + meta_df = raw_meta_df[raw_meta_df.included_in_public_release].copy() + + # %% + for split in ["train", "val", "test"]: + split_output_dir = os.path.join(output_dir, split) + os.makedirs(split_output_dir) + + split_meta_df = meta_df[meta_df.split_partition_name == split].copy() + split_meta_df["rgb_path"] = None + split_meta_df["rgb_mean"] = np.nan + split_meta_df["rgb_std"] = np.nan + split_meta_df["rgb_min"] = np.nan + split_meta_df["rgb_max"] = np.nan + + for i, row in tqdm(split_meta_df.iterrows(), total=len(split_meta_df)): + # Load data + rgb_path = os.path.join( + row.scene_name, + "images", + f"scene_{row.camera_name}_final_hdf5", + f"frame.{row.frame_id:04d}.color.hdf5", + ) + normal_cam_path = os.path.join( + row.scene_name, + "images", + f"scene_{row.camera_name}_geometry_hdf5", + f"frame.{row.frame_id:04d}.normal_cam.hdf5", + ) + normal_world_path = os.path.join( + row.scene_name, + "images", + f"scene_{row.camera_name}_geometry_hdf5", + f"frame.{row.frame_id:04d}.normal_world.hdf5", + ) + position_path = os.path.join( + row.scene_name, + "images", + f"scene_{row.camera_name}_geometry_hdf5", + f"frame.{row.frame_id:04d}.position.hdf5", + ) + camera_keyframe_positions_path = os.path.join( + row.scene_name, + "_detail", + f"{row.camera_name}", + "camera_keyframe_positions.hdf5", + ) + render_entity_id_path = os.path.join( + row.scene_name, + "images", + f"scene_{row.camera_name}_geometry_hdf5", + f"frame.{row.frame_id:04d}.render_entity_id.hdf5", + ) + assert os.path.exists(os.path.join(dataset_dir, rgb_path)) + assert os.path.exists(os.path.join(dataset_dir, normal_cam_path)) + assert os.path.exists(os.path.join(dataset_dir, normal_world_path)) + + with h5py.File(os.path.join(dataset_dir, rgb_path), "r") as f: + rgb = np.array(f["dataset"]).astype(float) + with h5py.File(os.path.join(dataset_dir, render_entity_id_path), "r") as f: + render_entity_id = np.array(f["dataset"]).astype(int) + with h5py.File(os.path.join(dataset_dir, normal_cam_path), "r") as f: + normal_cam = np.array(f["dataset"]).astype(float) # [H,W,3] + with h5py.File(os.path.join(dataset_dir, position_path), "r") as f: + position = np.array(f["dataset"]).astype(float) + with h5py.File(os.path.join(dataset_dir, normal_world_path), "r") as f: + normal_world = np.array(f["dataset"]).astype(float) + with h5py.File( + os.path.join(dataset_dir, camera_keyframe_positions_path), "r" + ) as f: + camera_keyframe_positions = np.array(f["dataset"]).astype(float) + + camera_position = camera_keyframe_positions[int(row.frame_id)] + + # Tone map + rgb_color_tm = tone_map(rgb, render_entity_id) + rgb_int = (rgb_color_tm * 255).astype(np.uint8) # [H, W, RGB] + + # Pre-process normals + # 1) normalize to unit length + # 2) invert the wrong normals that are pointing the same way as the camera, instead of against it + if np.any( + np.isnan(normal_cam) + ): # skip if the normal map contains Nan values + continue + else: + # make sure normals are correctly normalized + normal_cam_1d_ = normal_cam.reshape(-1, 3) + normal_cam_1d_ = sklearn.preprocessing.normalize(normal_cam_1d_) + normal_cam = normal_cam_1d_.reshape(normal_cam.shape) + + # scene ai_051_004 has a few wrong -inf values for camera position + # replace them with a neighboring value from same channel + if np.any(np.isinf(position)): + inf_indices = np.where(np.isinf(position)) + for idx in zip(*inf_indices): + h, w, ch = idx + if h == 0: + position[h, w, ch] = position[h + 1, w, ch] + else: + position[h, w, ch] = position[h - 1, w, ch] + + position_1d_ = position.reshape(-1, 3) + normal_world_1d_ = normal_world.reshape(-1, 3) + + # check if normals are pointing the same way as the camera, instead of against it + surface_to_cam_world_normalized_1d_ = sklearn.preprocessing.normalize( + camera_position - position_1d_ + ) + n_dot_v_1d_ = np.sum( + normal_world_1d_ * surface_to_cam_world_normalized_1d_, axis=1 + ) + normal_back_facing_mask_1d_ = n_dot_v_1d_ < -(1e-3) + normal_back_facing_mask = normal_back_facing_mask_1d_.reshape( + normal_world.shape[0], normal_world.shape[1] + ) + # invert wrong-facing normals + normal_cam[normal_back_facing_mask] = ( + -1 * normal_cam[normal_back_facing_mask] + ) + + scene_path = row.scene_name + if not os.path.exists(os.path.join(split_output_dir, row.scene_name)): + os.makedirs(os.path.join(split_output_dir, row.scene_name)) + + # Save RGB + rgb_name = f"rgb_{row.camera_name}_fr{row.frame_id:04d}.png" + rgb_path = os.path.join(scene_path, rgb_name) + cv2.imwrite( + os.path.join(split_output_dir, rgb_path), + cv2.cvtColor(rgb_int, cv2.COLOR_RGB2BGR), + ) + + # save normals + normal_cam_name = f"normal_cam_{row.camera_name}_fr{row.frame_id:04d}.npy" + normal_cam_path = os.path.join(scene_path, normal_cam_name) + np.save(os.path.join(split_output_dir, normal_cam_path), normal_cam) + + # Meta data + split_meta_df.at[i, "rgb_path"] = rgb_path + split_meta_df.at[i, "rgb_mean"] = np.mean(rgb_int) + split_meta_df.at[i, "rgb_std"] = np.std(rgb_int) + split_meta_df.at[i, "rgb_min"] = np.min(rgb_int) + split_meta_df.at[i, "rgb_max"] = np.max(rgb_int) + split_meta_df.at[i, "normal_path"] = normal_cam_path + + with open( + os.path.join(split_output_dir, f"hypersim_filtered_{split}.txt"), "w+" + ) as f: + lines = split_meta_df.apply( + lambda r: f"{r['rgb_path']} {r['normal_path']}", axis=1 + ).tolist() + f.writelines("\n".join(lines)) + + with open( + os.path.join(split_output_dir, f"filename_meta_{split}.csv"), "w+" + ) as f: + split_meta_df.to_csv(f, header=True) + + print("Preprocess finished") diff --git a/script/normals/dataset_preprocess/interiorverse/README.md b/script/normals/dataset_preprocess/interiorverse/README.md new file mode 100644 index 0000000..e596543 --- /dev/null +++ b/script/normals/dataset_preprocess/interiorverse/README.md @@ -0,0 +1,17 @@ +# Interiorverse preprocessing + +## Download + +Download the [InteriorVerse](https://interiorverse.github.io/#download) dataset, you will need to apply for access first following the instructions on their webpage. + +## Process dataset + +Run the preprocessing script: + +```bash +export BASE_DATA_DIR= # Set target data directory + +python script/dataset_preprocess_normals/interiorverse/preprocess_interiorverse_normals.py --dataset_dir path_to_downloaded_interiorverse --output_dir output_dir ${BASE_DATA_DIR}/interiorverse +``` + +Note that we only use the `scenes_85` data and not the `scenes_120` data. diff --git a/script/normals/dataset_preprocess/interiorverse/preprocess_interiorverse_normals.py b/script/normals/dataset_preprocess/interiorverse/preprocess_interiorverse_normals.py new file mode 100644 index 0000000..63df405 --- /dev/null +++ b/script/normals/dataset_preprocess/interiorverse/preprocess_interiorverse_normals.py @@ -0,0 +1,113 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import argparse +import cv2 +import numpy as np +import os +from PIL import Image +from tqdm import tqdm + +if "__main__" == __name__: + parser = argparse.ArgumentParser() + parser.add_argument("--dataset_dir", required=True) + parser.add_argument("--output_dir", required=True) + + args = parser.parse_args() + + dataset_dir = args.dataset_dir + output_dir = args.output_dir + + # we only use scenes_85 + scenes85_input_dir = os.path.join(dataset_dir, "scenes_85") + scenes85_output_dir = os.path.join(output_dir, "scenes_85") + + if not os.path.exists(scenes85_output_dir): + os.makedirs(scenes85_output_dir, exist_ok=True) + + with open(os.path.join(output_dir, "interiorverse_filtered_all.txt"), "w+") as f: + for scene in tqdm(os.listdir(scenes85_input_dir)): + for file in os.listdir(os.path.join(scenes85_input_dir, scene)): + # skip if nor RGB or normals + if "im.exr" not in file and "normal.exr" not in file: + continue + + img_path = os.path.join(scenes85_input_dir, scene, file) + im = cv2.imread( + img_path, -1 + ) # im will be an numpy.float32 array of shape (H, W, 3) + im = cv2.cvtColor( + im, cv2.COLOR_BGR2RGB + ) # cv2 reads image in BGR shape, convert into RGB + # skip if image/normal map contains nan values + if np.any(np.isnan(im)): + continue + + # if RGB image + if "im" in file: + im = im.clip(0, 1) ** ( + 1 / 2.2 + ) # Convert from HDR to LDR with clipping and gamma correction + img = (im * 255).astype(np.uint8) + img = Image.fromarray(img) + + rgb_name = file.replace("im.exr", "img.png") + if not os.path.exists(os.path.join(scenes85_output_dir, scene)): + os.makedirs( + os.path.join(scenes85_output_dir, scene), exist_ok=True + ) + rgb_path = os.path.join(scenes85_output_dir, scene, rgb_name) + img.save(rgb_path) + + elif "normal" in file: + # invalid pixels are 0 + # skip if normal map contains invalid values + invalid_mask = np.linalg.norm(im, axis=2) < 0.1 + if invalid_mask.sum() > 0: + continue + + # normalize to unit length + im /= np.linalg.norm(im, axis=2, keepdims=True) + + # save as .npy + normal_name = file.replace("normal.exr", "normal.npy") + if not os.path.exists(os.path.join(scenes85_output_dir, scene)): + os.makedirs( + os.path.join(scenes85_output_dir, scene), exist_ok=True + ) + normal_path = os.path.join(scenes85_output_dir, scene, normal_name) + np.save(normal_path, im) + rgb_name = file.replace("normal.exr", "img.png") + + f.write( + f"{os.path.join(scene, rgb_name)} {os.path.join(scene, normal_name)}\n" + ) + + print("Preprocess finished") diff --git a/script/normals/dataset_preprocess/sintel/README.md b/script/normals/dataset_preprocess/sintel/README.md new file mode 100644 index 0000000..55a78d1 --- /dev/null +++ b/script/normals/dataset_preprocess/sintel/README.md @@ -0,0 +1,16 @@ +# Hypersim preprocessing + +## Download + +Download the preprocessed [Sintel](http://sintel.is.tue.mpg.de/) dataset as follows: + +```bash +export BASE_DATA_DIR= # Set target data directory + +wget -r -np -nH --cut-dirs=4 -R "index.html*" -P ${BASE_DATA_DIR} https://share.phys.ethz.ch/~pf/bingkedata/marigold/marigold_normals/sintel.zip +unzip ${BASE_DATA_DIR}/sintel.zip -d ${BASE_DATA_DIR}/ +rm -f ${BASE_DATA_DIR}/sintel.zip +``` + +For training, we filtered out low-quality samples and used the samples listed [here](../../../../data_split/sintel_normals/sintel_filtered.txt) + diff --git a/script/normals/eval.py b/script/normals/eval.py new file mode 100644 index 0000000..ece4e71 --- /dev/null +++ b/script/normals/eval.py @@ -0,0 +1,181 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from omegaconf import OmegaConf +from tabulate import tabulate +from torch.utils.data import DataLoader +from tqdm.auto import tqdm + +from src.dataset import DatasetMode, get_dataset +from src.util import metric +from src.util.metric import MetricTracker, compute_cosine_error + +eval_metrics = [ + "mean_angular_error", + "median_angular_error", + "sub5_error", + "sub7_5_error", + "sub11_25_error", + "sub22_5_error", + "sub30_error", +] + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Surface Normals Estimation : Metrics Evaluation" + ) + parser.add_argument( + "--prediction_dir", + type=str, + required=True, + help="Directory with predictions obtained from inference.", + ) + parser.add_argument( + "--dataset_config", + type=str, + required=True, + help="Path to the config file of the evaluation dataset.", + ) + parser.add_argument( + "--base_data_dir", + type=str, + required=True, + help="Base path to the datasets.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--use_mask", action="store_true", help="Evaluate only in the masked region." + ) + parser.add_argument("--no_cuda", action="store_true", help="Run without cuda.") + + args = parser.parse_args() + + os.makedirs(args.output_dir, exist_ok=True) + + # -------------------- Device -------------------- + cuda_avail = torch.cuda.is_available() and not args.no_cuda + device = torch.device("cuda" if cuda_avail else "cpu") + logging.info(f"Device: {device}") + + # -------------------- Data -------------------- + cfg_data = OmegaConf.load(args.dataset_config) + + dataset = get_dataset( + cfg_data, base_data_dir=args.base_data_dir, mode=DatasetMode.EVAL + ) + + dataloader = DataLoader(dataset, batch_size=1, num_workers=0) + + # -------------------- Eval metrics -------------------- + metric_funcs = [getattr(metric, _met) for _met in eval_metrics] + + metric_tracker = MetricTracker(*[m.__name__ for m in metric_funcs]) + metric_tracker.reset() + + # -------------------- Results Dictionary -------------------- + results = {} + + # -------------------- Per-sample metrics file -------------------- + per_sample_filename = os.path.join(args.output_dir, "per_sample_metrics.csv") + # write title + with open(per_sample_filename, "w+") as f: + f.write("filename,") + f.write(",".join([m.__name__ for m in metric_funcs])) + f.write("\n") + + # -------------------- Evaluate -------------------- + for data in tqdm(dataloader, desc="Evaluating"): + # GT data + rgb_name = data["rgb_relative_path"][0] + normals_gt = data["normals"].to(device) # [1,3,H,W] + + # Load predictions + rgb_basename = os.path.basename(rgb_name) + scene_dir = os.path.join(args.prediction_dir, os.path.dirname(rgb_name)) + rgb_basename_without_extension = os.path.splitext(rgb_basename)[0] + pred_basename = rgb_basename_without_extension + ".npy" + pred_path = os.path.join(scene_dir, pred_basename) + + if not os.path.exists(pred_path): + logging.warning(f"Can't find prediction: {pred_path}") + continue + + normals_pred = ( + torch.from_numpy(np.load((pred_path)).astype(np.float32)) + .unsqueeze(0) + .to(device) + ) # [1,3,H,W] + cosine_error = compute_cosine_error(normals_pred, normals_gt, masked=True) + sample_metric = [] + + for met_func in metric_funcs: + _metric_name = met_func.__name__ + _metric = met_func(cosine_error).item() + sample_metric.append(_metric.__str__()) + metric_tracker.update(_metric_name, _metric) + + # Save per-sample metric + with open(per_sample_filename, "a+") as f: + f.write(rgb_name + ",") + f.write(",".join(sample_metric)) + f.write("\n") + + # -------------------- Save metrics to file -------------------- + eval_text = f"Evaluation metrics:\n\ + of predictions: {args.prediction_dir}\n\ + on dataset: {dataset.disp_name}\n\ + with samples in: {dataset.filename_ls_path}\n" + + eval_text += tabulate( + [metric_tracker.result().keys(), metric_tracker.result().values()] + ) + + metrics_filename = "eval_metrics" + metrics_filename += ".txt" + + _save_to = os.path.join(args.output_dir, metrics_filename) + with open(_save_to, "w+") as f: + f.write(eval_text) + logging.info(f"Evaluation metrics saved to {_save_to}") diff --git a/script/normals/eval/11_infer_scannet.sh b/script/normals/eval/11_infer_scannet.sh new file mode 100644 index 0000000..b0469a1 --- /dev/null +++ b/script/normals/eval/11_infer_scannet.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-normals-v1-1"} +subfolder=${2:-"eval"} + +python script/normals/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --processing_res 640 \ + --dataset_config config/dataset_normals/data_scannet_test.yaml \ + --output_dir output/${subfolder}/scannet_normals_test/prediction diff --git a/script/normals/eval/12_eval_scannet.sh b/script/normals/eval/12_eval_scannet.sh new file mode 100644 index 0000000..e7b5a39 --- /dev/null +++ b/script/normals/eval/12_eval_scannet.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/normals/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_normals/data_scannet_test.yaml \ + --prediction_dir output/${subfolder}/scannet_normals_test/prediction \ + --output_dir output/${subfolder}/scannet_normals_test/eval_metric diff --git a/script/normals/eval/21_infer_nyu.sh b/script/normals/eval/21_infer_nyu.sh new file mode 100644 index 0000000..9cd0765 --- /dev/null +++ b/script/normals/eval/21_infer_nyu.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-normals-v1-1"} +subfolder=${2:-"eval"} + +python script/normals/infer.py \ + --checkpoint $ckpt \ + --seed 4321 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --processing_res 640 \ + --dataset_config config/dataset_normals/data_nyu_test.yaml \ + --output_dir output/${subfolder}/nyu_normals_test/prediction diff --git a/script/normals/eval/22_eval_nyu.sh b/script/normals/eval/22_eval_nyu.sh new file mode 100644 index 0000000..a8e0ccd --- /dev/null +++ b/script/normals/eval/22_eval_nyu.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/normals/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_normals/data_nyu_test.yaml \ + --prediction_dir output/${subfolder}/nyu_normals_test/prediction \ + --output_dir output/${subfolder}/nyu_normals_test/eval_metric diff --git a/script/normals/eval/31_infer_ibims.sh b/script/normals/eval/31_infer_ibims.sh new file mode 100644 index 0000000..0e94f73 --- /dev/null +++ b/script/normals/eval/31_infer_ibims.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-normals-v1-1"} +subfolder=${2:-"eval"} + +python script/normals/infer.py \ + --checkpoint $ckpt \ + --seed 4321 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --processing_res 640 \ + --dataset_config config/dataset_normals/data_ibims_test.yaml \ + --output_dir output/${subfolder}/ibims_normals_test/prediction diff --git a/script/normals/eval/32_eval_ibims.sh b/script/normals/eval/32_eval_ibims.sh new file mode 100644 index 0000000..cb68895 --- /dev/null +++ b/script/normals/eval/32_eval_ibims.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/normals/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_normals/data_ibims_test.yaml \ + --prediction_dir output/${subfolder}/ibims_normals_test/prediction \ + --output_dir output/${subfolder}/ibims_normals_test/eval_metric diff --git a/script/normals/eval/41_infer_diode.sh b/script/normals/eval/41_infer_diode.sh new file mode 100644 index 0000000..4f2e877 --- /dev/null +++ b/script/normals/eval/41_infer_diode.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-normals-v1-1"} +subfolder=${2:-"eval"} + +python script/normals/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --processing_res 768 \ + --dataset_config config/dataset_normals/data_diode_test.yaml \ + --output_dir output/${subfolder}/diode_normals_test/prediction diff --git a/script/normals/eval/42_eval_diode.sh b/script/normals/eval/42_eval_diode.sh new file mode 100644 index 0000000..29b8119 --- /dev/null +++ b/script/normals/eval/42_eval_diode.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/normals/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_normals/data_diode_test.yaml \ + --prediction_dir output/${subfolder}/diode_normals_test/prediction \ + --output_dir output/${subfolder}/diode_normals_test/eval_metric diff --git a/script/normals/eval/51_infer_oasis.sh b/script/normals/eval/51_infer_oasis.sh new file mode 100644 index 0000000..2723636 --- /dev/null +++ b/script/normals/eval/51_infer_oasis.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +# set -e +set -x + +# Use specified checkpoint path, otherwise, default value +ckpt=${1:-"prs-eth/marigold-normals-v1-1"} +subfolder=${2:-"eval"} + +python script/normals/infer.py \ + --checkpoint $ckpt \ + --seed 1234 \ + --base_data_dir $BASE_DATA_DIR \ + --denoise_steps 4 \ + --ensemble_size 10 \ + --processing_res 768 \ + --dataset_config config/dataset_normals/data_oasis_test.yaml \ + --output_dir output/${subfolder}/oasis_normals_test/prediction diff --git a/script/normals/eval/52_eval_oasis.sh b/script/normals/eval/52_eval_oasis.sh new file mode 100644 index 0000000..9a6c837 --- /dev/null +++ b/script/normals/eval/52_eval_oasis.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +# set -e +set -x + +subfolder=${1:-"eval"} + +python script/normals/eval.py \ + --base_data_dir $BASE_DATA_DIR \ + --dataset_config config/dataset_normals/data_oasis_test.yaml \ + --prediction_dir output/${subfolder}/oasis_normals_test/prediction \ + --output_dir output/${subfolder}/oasis_normals_test/eval_metric diff --git a/script/normals/infer.py b/script/normals/infer.py new file mode 100644 index 0000000..1b4b5e6 --- /dev/null +++ b/script/normals/infer.py @@ -0,0 +1,271 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from omegaconf import OmegaConf +from torch.utils.data import DataLoader +from tqdm.auto import tqdm + +from marigold import MarigoldNormalsOutput, MarigoldNormalsPipeline +from src.dataset import BaseNormalsDataset, DatasetMode, get_dataset +from src.util.seeding import seed_all + + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Surface Normals Estimation : Dataset Inference" + ) + parser.add_argument( + "--checkpoint", + type=str, + default="prs-eth/marigold-normals-v1-1", + help="Checkpoint path or hub name.", + ) + parser.add_argument( + "--dataset_config", + type=str, + required=True, + help="Path to the config file of the evaluation dataset.", + ) + parser.add_argument( + "--base_data_dir", + type=str, + required=True, + help="Base path to the datasets.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--denoise_steps", + type=int, + required=True, + help="Diffusion denoising steps.", + ) + parser.add_argument( + "--processing_res", + type=int, + required=True, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution.", + ) + parser.add_argument( + "--ensemble_size", + type=int, + required=True, + help="Number of predictions to be ensembled.", + ) + parser.add_argument( + "--half_precision", + "--fp16", + action="store_true", + help="Run with half-precision (16-bit float), might lead to suboptimal result.", + ) + parser.add_argument( + "--output_processing_res", + action="store_true", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", + ) + parser.add_argument( + "--resample_method", + choices=["bilinear", "bicubic", "nearest"], + default="bilinear", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", + ) + parser.add_argument( + "--seed", + type=int, + default=None, + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", + ) + + args = parser.parse_args() + + checkpoint_path = args.checkpoint + dataset_config = args.dataset_config + base_data_dir = args.base_data_dir + output_dir = args.output_dir + + denoise_steps = args.denoise_steps + ensemble_size = args.ensemble_size + if ensemble_size > 15: + logging.warning("Running with large ensemble size will be slow.") + half_precision = args.half_precision + + processing_res = args.processing_res + match_input_res = not args.output_processing_res + if 0 == processing_res and match_input_res is False: + logging.warning( + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." + ) + resample_method = args.resample_method + + seed = args.seed + + logging.debug(f"Arguments: {args}") + + # -------------------- Preparation -------------------- + # Print out config + logging.info( + f"Inference settings: checkpoint = `{checkpoint_path}`, " + f"with denoise_steps = {denoise_steps}, ensemble_size = {ensemble_size}, " + f"processing resolution = {processing_res}, seed = {seed}; " + f"dataset config = `{dataset_config}`." + ) + + # Random seed + if seed is None: + import time + + seed = int(time.time()) + + seed_all(seed) + + def check_directory(directory): + if os.path.exists(directory): + response = ( + input( + f"The directory '{directory}' already exists. Are you sure to continue? (y/n): " + ) + .strip() + .lower() + ) + if "y" == response: + pass + elif "n" == response: + print("Exiting...") + exit() + else: + print("Invalid input. Please enter 'y' (for Yes) or 'n' (for No).") + check_directory(directory) # Recursive call to ask again + + check_directory(output_dir) + os.makedirs(output_dir, exist_ok=True) + logging.info(f"output dir = {output_dir}") + + # -------------------- Device -------------------- + if torch.cuda.is_available(): + device = torch.device("cuda") + else: + device = torch.device("cpu") + logging.warning("CUDA is not available. Running on CPU will be slow.") + logging.info(f"device = {device}") + + # -------------------- Data -------------------- + cfg_data = OmegaConf.load(dataset_config) + + dataset: BaseNormalsDataset = get_dataset( + cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.RGB_ONLY + ) + assert isinstance(dataset, BaseNormalsDataset) + + dataloader = DataLoader(dataset, batch_size=1, num_workers=0) + + # -------------------- Model -------------------- + if half_precision: + dtype = torch.float16 + variant = "fp16" + logging.warning( + f"Running with half precision ({dtype}), might lead to suboptimal result." + ) + else: + dtype = torch.float32 + variant = None + + pipe: MarigoldNormalsPipeline = MarigoldNormalsPipeline.from_pretrained( + checkpoint_path, variant=variant, torch_dtype=dtype + ) + + try: + pipe.enable_xformers_memory_efficient_attention() + except ImportError: + logging.debug("Proceeding without xformers") + + pipe = pipe.to(device) + logging.info("Loaded normals pipeline") + + # -------------------- Inference and saving -------------------- + with torch.no_grad(): + for batch in tqdm( + dataloader, desc=f"IID Inference on {dataset.disp_name}", leave=True + ): + # Read input image + input_image = batch["rgb_int"] + + # Random number generator + if seed is None: + generator = None + else: + generator = torch.Generator(device=device) + generator.manual_seed(seed) + + # Perform inference + pipe_out: MarigoldNormalsOutput = pipe( + input_image, + denoising_steps=denoise_steps, + ensemble_size=ensemble_size, + processing_res=processing_res, + match_input_res=match_input_res, + batch_size=0, + show_progress_bar=False, + resample_method=resample_method, + generator=generator, + ) + + normals_pred: np.ndarray = pipe_out.normals_np + + # Save predictions + rgb_filename = batch["rgb_relative_path"][0] + rgb_basename = os.path.basename(rgb_filename) + scene_dir = os.path.join(output_dir, os.path.dirname(rgb_filename)) + if not os.path.exists(scene_dir): + os.makedirs(scene_dir) + rgb_basename_without_extension = os.path.splitext(rgb_basename)[0] + pred_basename = rgb_basename_without_extension + ".npy" + save_to = os.path.join(scene_dir, pred_basename) + if os.path.exists(save_to): + logging.warning(f"Existing file: '{save_to}' will be overwritten") + + np.save(save_to, normals_pred) # [3,H,W] diff --git a/script/normals/run.py b/script/normals/run.py new file mode 100644 index 0000000..8157902 --- /dev/null +++ b/script/normals/run.py @@ -0,0 +1,270 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import numpy as np +import os +import torch +from PIL import Image +from glob import glob +from tqdm.auto import tqdm + +from marigold import MarigoldNormalsPipeline, MarigoldNormalsOutput + +EXTENSION_LIST = [".jpg", ".jpeg", ".png"] + + +if "__main__" == __name__: + logging.basicConfig(level=logging.INFO) + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Surface Normals Estimation : Multi-image Inference" + ) + parser.add_argument( + "--checkpoint", + type=str, + default="prs-eth/marigold-normals-v1-1", + help="Checkpoint path or hub name.", + ) + parser.add_argument( + "--input_rgb_dir", + type=str, + required=True, + help="Path to the input image folder.", + ) + parser.add_argument( + "--output_dir", type=str, required=True, help="Output directory." + ) + parser.add_argument( + "--denoise_steps", + type=int, + default=None, + help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed. If set to " + "`None`, default value will be read from checkpoint.", + ) + parser.add_argument( + "--processing_res", + type=int, + default=None, + help="Resolution to which the input is resized before performing estimation. `0` uses the original input " + "resolution; `None` resolves the best default from the model checkpoint. Default: `None`", + ) + parser.add_argument( + "--ensemble_size", + type=int, + default=1, + help="Number of predictions to be ensembled. Default: `1`.", + ) + parser.add_argument( + "--half_precision", + "--fp16", + action="store_true", + help="Run with half-precision (16-bit float), might lead to suboptimal result.", + ) + parser.add_argument( + "--output_processing_res", + action="store_true", + help="Setting this flag will output the result at the effective value of `processing_res`, otherwise the " + "output will be resized to the input resolution.", + ) + parser.add_argument( + "--resample_method", + choices=["bilinear", "bicubic", "nearest"], + default="bilinear", + help="Resampling method used to resize images and predictions. This can be one of `bilinear`, `bicubic` or " + "`nearest`. Default: `bilinear`", + ) + parser.add_argument( + "--seed", + type=int, + default=None, + help="Reproducibility seed. Set to `None` for randomized inference. Default: `None`", + ) + parser.add_argument( + "--batch_size", + type=int, + default=0, + help="Inference batch size. Default: 0 (will be set automatically).", + ) + parser.add_argument( + "--apple_silicon", + action="store_true", + help="Use Apple Silicon for faster inference (subject to availability).", + ) + + args = parser.parse_args() + + checkpoint_path = args.checkpoint + input_rgb_dir = args.input_rgb_dir + output_dir = args.output_dir + + denoise_steps = args.denoise_steps + ensemble_size = args.ensemble_size + if ensemble_size > 15: + logging.warning("Running with large ensemble size will be slow.") + half_precision = args.half_precision + + processing_res = args.processing_res + match_input_res = not args.output_processing_res + if 0 == processing_res and match_input_res is False: + logging.warning( + "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, " + "due to the padding and pooling properties of conv layers." + ) + resample_method = args.resample_method + + seed = args.seed + batch_size = args.batch_size + apple_silicon = args.apple_silicon + if apple_silicon and 0 == batch_size: + batch_size = 1 # set default batchsize + + # -------------------- Preparation -------------------- + # Output directories + output_dir_vis = os.path.join(output_dir, "normals_vis") + output_dir_npy = os.path.join(output_dir, "normals_npy") + os.makedirs(output_dir, exist_ok=True) + os.makedirs(output_dir_vis, exist_ok=True) + os.makedirs(output_dir_npy, exist_ok=True) + logging.info(f"output dir = {output_dir}") + + # -------------------- Device -------------------- + if apple_silicon: + if torch.backends.mps.is_available() and torch.backends.mps.is_built(): + device = torch.device("mps") + else: + device = torch.device("cpu") + logging.warning("MPS is not available. Running on CPU will be slow.") + else: + if torch.cuda.is_available(): + device = torch.device("cuda") + else: + device = torch.device("cpu") + logging.warning("CUDA is not available. Running on CPU will be slow.") + logging.info(f"device = {device}") + + # -------------------- Data -------------------- + rgb_filename_list = glob(os.path.join(input_rgb_dir, "*")) + rgb_filename_list = [ + f for f in rgb_filename_list if os.path.splitext(f)[1].lower() in EXTENSION_LIST + ] + rgb_filename_list = sorted(rgb_filename_list) + n_images = len(rgb_filename_list) + if n_images > 0: + logging.info(f"Found {n_images} images") + else: + logging.error(f"No image found in '{input_rgb_dir}'") + exit(1) + + # -------------------- Model -------------------- + if half_precision: + dtype = torch.float16 + variant = "fp16" + logging.info( + f"Running with half precision ({dtype}), might lead to suboptimal result." + ) + else: + dtype = torch.float32 + variant = None + + pipe: MarigoldNormalsPipeline = MarigoldNormalsPipeline.from_pretrained( + checkpoint_path, variant=variant, torch_dtype=dtype + ) + + try: + pipe.enable_xformers_memory_efficient_attention() + except ImportError: + pass # run without xformers + + pipe = pipe.to(device) + logging.info("Loaded normals pipeline") + + # Print out config + logging.info( + f"Inference settings: checkpoint = `{checkpoint_path}`, " + f"with denoise_steps = {denoise_steps or pipe.default_denoising_steps}, " + f"ensemble_size = {ensemble_size}, " + f"processing resolution = {processing_res or pipe.default_processing_resolution}, " + f"seed = {seed}; " + ) + + # -------------------- Inference and saving -------------------- + with torch.no_grad(): + os.makedirs(output_dir, exist_ok=True) + + for rgb_path in tqdm( + rgb_filename_list, desc="Surface Normals Inference", leave=True + ): + # Read input image + input_image = Image.open(rgb_path) + + # Random number generator + if seed is None: + generator = None + else: + generator = torch.Generator(device=device) + generator.manual_seed(seed) + + # Perform inference + pipe_out: MarigoldNormalsOutput = pipe( + input_image, + denoising_steps=denoise_steps, + ensemble_size=ensemble_size, + processing_res=processing_res, + match_input_res=match_input_res, + batch_size=batch_size, + show_progress_bar=True, + resample_method=resample_method, + generator=generator, + ) + + normals_pred: np.ndarray = pipe_out.normals_np # [3,H,W] + normals_img: Image.Image = pipe_out.normals_img + + # Save as npy + rgb_name_base = os.path.splitext(os.path.basename(rgb_path))[0] + pred_name_base = rgb_name_base + "_normals" + npy_save_path = os.path.join(output_dir_npy, f"{pred_name_base}.npy") + if os.path.exists(npy_save_path): + logging.warning(f"Existing file: '{npy_save_path}' will be overwritten") + np.save(npy_save_path, normals_pred) + + # Save as png + vis_save_path = os.path.join(output_dir_vis, f"{pred_name_base}.png") + if os.path.exists(vis_save_path): + logging.warning(f"Existing file: '{vis_save_path}' will be overwritten") + normals_img.save(vis_save_path) diff --git a/script/normals/train.py b/script/normals/train.py new file mode 100644 index 0000000..36258d6 --- /dev/null +++ b/script/normals/train.py @@ -0,0 +1,373 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import sys +import os + +sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) + +import argparse +import logging +import os +import shutil +import torch +from datetime import datetime, timedelta +from omegaconf import OmegaConf +from torch.utils.data import ConcatDataset, DataLoader +from tqdm import tqdm +from typing import List, Union + +from marigold import MarigoldNormalsPipeline +from src.dataset import BaseNormalsDataset, DatasetMode, get_dataset +from src.dataset.mixed_sampler import MixedBatchSampler +from src.trainer import get_trainer_cls +from src.util.config_util import ( + find_value_in_omegaconf, + recursive_load_config, +) +from src.util.logging_util import ( + config_logging, + init_wandb, + load_wandb_job_id, + log_slurm_job_id, + save_wandb_job_id, + tb_logger, +) +from src.util.slurm_util import get_local_scratch_dir, is_on_slurm + + +if "__main__" == __name__: + t_start = datetime.now() + logging.info(f"Started at {t_start}") + + # -------------------- Arguments -------------------- + parser = argparse.ArgumentParser( + description="Marigold : Surface Normals Estimation : Training" + ) + parser.add_argument( + "--config", + type=str, + default="config/train_marigold_normals.yaml", + help="Path to config file.", + ) + parser.add_argument( + "--resume_run", + action="store", + default=None, + help="Path of checkpoint to be resumed. If given, will ignore --config, and checkpoint in the config.", + ) + parser.add_argument( + "--output_dir", type=str, default=None, help="Directory to save checkpoints." + ) + parser.add_argument("--no_cuda", action="store_true", help="Do not use cuda.") + parser.add_argument( + "--exit_after", + type=int, + default=-1, + help="Save checkpoint and exit after X minutes.", + ) + parser.add_argument( + "--no_wandb", + action="store_true", + help="Run without Weights and Biases logging.", + ) + parser.add_argument( + "--do_not_copy_data", + action="store_true", + help="On Slurm cluster, do not copy data to the local scratch.", + ) + parser.add_argument( + "--base_data_dir", type=str, default=None, help="Base path to the datasets." + ) + parser.add_argument( + "--base_ckpt_dir", + type=str, + default=None, + help="Base path to the pretrained checkpoints.", + ) + parser.add_argument( + "--add_datetime_prefix", + action="store_true", + help="Add datetime to the output folder name.", + ) + + args = parser.parse_args() + resume_run = args.resume_run + output_dir = args.output_dir + base_data_dir = ( + args.base_data_dir + if args.base_data_dir is not None + else os.environ["BASE_DATA_DIR"] + ) + base_ckpt_dir = ( + args.base_ckpt_dir + if args.base_ckpt_dir is not None + else os.environ["BASE_CKPT_DIR"] + ) + + # -------------------- Initialization -------------------- + # Resume previous run + if resume_run is not None: + logging.info(f"Resuming run: {resume_run}") + out_dir_run = os.path.dirname(os.path.dirname(resume_run)) + job_name = os.path.basename(out_dir_run) + # Resume config file + cfg = OmegaConf.load(os.path.join(out_dir_run, "config.yaml")) + else: + # Run from start + cfg = recursive_load_config(args.config) + # Full job name + pure_job_name = os.path.basename(args.config).split(".")[0] + # Add time prefix + if args.add_datetime_prefix: + job_name = f"{t_start.strftime('%y_%m_%d-%H_%M_%S')}-{pure_job_name}" + else: + job_name = pure_job_name + + # Output dir + if output_dir is not None: + out_dir_run = os.path.join(output_dir, job_name) + else: + out_dir_run = os.path.join("./output", job_name) + os.makedirs(out_dir_run, exist_ok=False) + + cfg_data = cfg.dataset + + # Other directories + out_dir_ckpt = os.path.join(out_dir_run, "checkpoint") + if not os.path.exists(out_dir_ckpt): + os.makedirs(out_dir_ckpt) + out_dir_tb = os.path.join(out_dir_run, "tensorboard") + if not os.path.exists(out_dir_tb): + os.makedirs(out_dir_tb) + out_dir_eval = os.path.join(out_dir_run, "evaluation") + if not os.path.exists(out_dir_eval): + os.makedirs(out_dir_eval) + out_dir_vis = os.path.join(out_dir_run, "visualization") + if not os.path.exists(out_dir_vis): + os.makedirs(out_dir_vis) + + # -------------------- Logging settings -------------------- + config_logging(cfg.logging, out_dir=out_dir_run) + logging.debug(f"config: {cfg}") + + # Initialize wandb + if not args.no_wandb: + if resume_run is not None: + wandb_id = load_wandb_job_id(out_dir_run) + wandb_cfg_dict = { + "id": wandb_id, + "resume": "must", + **cfg.wandb, + } + else: + wandb_cfg_dict = { + "config": dict(cfg), + "name": job_name, + "mode": "online", + **cfg.wandb, + } + wandb_cfg_dict.update({"dir": out_dir_run}) + wandb_run = init_wandb(enable=True, **wandb_cfg_dict) + save_wandb_job_id(wandb_run, out_dir_run) + else: + init_wandb(enable=False) + + # Tensorboard (should be initialized after wandb) + tb_logger.set_dir(out_dir_tb) + + log_slurm_job_id(step=0) + + # -------------------- Device -------------------- + cuda_avail = torch.cuda.is_available() and not args.no_cuda + device = torch.device("cuda" if cuda_avail else "cpu") + logging.info(f"device = {device}") + + # -------------------- Snapshot of code and config -------------------- + if resume_run is None: + _output_path = os.path.join(out_dir_run, "config.yaml") + with open(_output_path, "w+") as f: + OmegaConf.save(config=cfg, f=f) + logging.info(f"Config saved to {_output_path}") + # Copy and tar code on the first run + _temp_code_dir = os.path.join(out_dir_run, "code_tar") + _code_snapshot_path = os.path.join(out_dir_run, "code_snapshot.tar") + os.system( + f"rsync --relative -arhvz --quiet --filter=':- .gitignore' --exclude '.git' . '{_temp_code_dir}'" + ) + os.system(f"tar -cf {_code_snapshot_path} {_temp_code_dir}") + os.system(f"rm -rf {_temp_code_dir}") + logging.info(f"Code snapshot saved to: {_code_snapshot_path}") + + # -------------------- Copy data to local scratch (Slurm) -------------------- + if is_on_slurm() and (not args.do_not_copy_data): + # local scratch dir + original_data_dir = base_data_dir + base_data_dir = os.path.join(get_local_scratch_dir(), "Marigold_data") + # copy data + required_data_list = find_value_in_omegaconf("dir", cfg_data) + # if cfg_train.visualize.init_latent_path is not None: + # required_data_list.append(cfg_train.visualize.init_latent_path) + required_data_list = list(set(required_data_list)) + logging.info(f"Required_data_list: {required_data_list}") + for d in tqdm(required_data_list, desc="Copy data to local scratch"): + ori_dir = os.path.join(original_data_dir, d) + dst_dir = os.path.join(base_data_dir, d) + os.makedirs(os.path.dirname(dst_dir), exist_ok=True) + if os.path.isfile(ori_dir): + shutil.copyfile(ori_dir, dst_dir) + elif os.path.isdir(ori_dir): + shutil.copytree(ori_dir, dst_dir) + logging.info(f"Data copied to: {base_data_dir}") + + # -------------------- Gradient accumulation steps -------------------- + eff_bs = cfg.dataloader.effective_batch_size + accumulation_steps = eff_bs / cfg.dataloader.max_train_batch_size + assert int(accumulation_steps) == accumulation_steps + accumulation_steps = int(accumulation_steps) + + logging.info( + f"Effective batch size: {eff_bs}, accumulation steps: {accumulation_steps}" + ) + + # -------------------- Data -------------------- + loader_seed = cfg.dataloader.seed + if loader_seed is None: + loader_generator = None + else: + loader_generator = torch.Generator().manual_seed(loader_seed) + + # Training dataset + train_dataset: Union[BaseNormalsDataset, List[BaseNormalsDataset]] = get_dataset( + cfg_data.train, + base_data_dir=base_data_dir, + mode=DatasetMode.TRAIN, + augmentation_args=cfg.augmentation, + ) + logging.debug("Augmentation: ", cfg.augmentation) + if "mixed" == cfg_data.train.name: + dataset_ls = train_dataset + assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( + "Lengths don't match: `prob_ls` and `dataset_list`" + ) + concat_dataset = ConcatDataset(dataset_ls) + mixed_sampler = MixedBatchSampler( + src_dataset_ls=dataset_ls, + batch_size=cfg.dataloader.max_train_batch_size, + drop_last=True, + prob=cfg_data.train.prob_ls, + shuffle=True, + generator=loader_generator, + ) + train_loader = DataLoader( + concat_dataset, + batch_sampler=mixed_sampler, + num_workers=cfg.dataloader.num_workers, + ) + else: + train_loader = DataLoader( + dataset=train_dataset, + batch_size=cfg.dataloader.max_train_batch_size, + num_workers=cfg.dataloader.num_workers, + shuffle=True, + generator=loader_generator, + ) + # Validation dataset + val_loaders: List[DataLoader] = [] + for _val_dict in cfg_data.val: + _val_dataset = get_dataset( + _val_dict, + base_data_dir=base_data_dir, + mode=DatasetMode.EVAL, + ) + _val_loader = DataLoader( + dataset=_val_dataset, + batch_size=1, + shuffle=False, + num_workers=cfg.dataloader.num_workers, + ) + val_loaders.append(_val_loader) + + # Visualization dataset + vis_loaders: List[DataLoader] = [] + for _vis_dict in cfg_data.vis: + _vis_dataset = get_dataset( + _vis_dict, + base_data_dir=base_data_dir, + mode=DatasetMode.EVAL, + ) + _vis_loader = DataLoader( + dataset=_vis_dataset, + batch_size=1, + shuffle=False, + num_workers=cfg.dataloader.num_workers, + ) + vis_loaders.append(_vis_loader) + + # -------------------- Model -------------------- + _pipeline_kwargs = cfg.pipeline.kwargs if cfg.pipeline.kwargs is not None else {} + model = MarigoldNormalsPipeline.from_pretrained( + os.path.join(base_ckpt_dir, cfg.model.pretrained_path), **_pipeline_kwargs + ) + + # -------------------- Trainer -------------------- + # Exit time + if args.exit_after > 0: + t_end = t_start + timedelta(minutes=args.exit_after) + logging.info(f"Will exit at {t_end}") + else: + t_end = None + + trainer_cls = get_trainer_cls(cfg.trainer.name) + logging.debug(f"Trainer: {trainer_cls}") + trainer = trainer_cls( + cfg=cfg, + model=model, + train_dataloader=train_loader, + device=device, + out_dir_ckpt=out_dir_ckpt, + out_dir_eval=out_dir_eval, + out_dir_vis=out_dir_vis, + accumulation_steps=accumulation_steps, + val_dataloaders=val_loaders, + vis_dataloaders=vis_loaders, + ) + + # -------------------- Checkpoint -------------------- + if resume_run is not None: + trainer.load_checkpoint( + resume_run, load_trainer_state=True, resume_lr_scheduler=True + ) + + # -------------------- Training & Evaluation Loop -------------------- + try: + trainer.train(t_end=t_end) + except Exception as e: + logging.exception(e) diff --git a/src/__init__.py b/src/__init__.py index e69de29..e530afe 100644 --- a/src/__init__.py +++ b/src/__init__.py @@ -0,0 +1,29 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- diff --git a/src/dataset/__init__.py b/src/dataset/__init__.py index 6c57add..1ef1229 100644 --- a/src/dataset/__init__.py +++ b/src/dataset/__init__.py @@ -1,6 +1,4 @@ -# Last modified: 2024-04-16 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,38 +12,79 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import os +from typing import Union, List -from .base_depth_dataset import BaseDepthDataset, get_pred_name, DatasetMode # noqa: F401 -from .diode_dataset import DIODEDataset -from .eth3d_dataset import ETH3DDataset -from .hypersim_dataset import HypersimDataset -from .kitti_dataset import KITTIDataset -from .nyu_dataset import NYUDataset -from .scannet_dataset import ScanNetDataset -from .vkitti_dataset import VirtualKITTIDataset - +from .base_depth_dataset import ( + BaseDepthDataset, + get_pred_name, # noqa: F401 + DatasetMode, +) # noqa: F401 +from .base_iid_dataset import BaseIIDDataset # noqa: F401 +from .base_normals_dataset import BaseNormalsDataset # noqa: F401 +from .diode_dataset import DIODEDepthDataset, DIODENormalsDataset +from .eth3d_dataset import ETH3DDepthDataset +from .hypersim_dataset import ( + HypersimDepthDataset, + HypersimNormalsDataset, + HypersimIIDDataset, +) +from .ibims_dataset import IBimsNormalsDataset +from .interiorverse_dataset import InteriorVerseNormalsDataset, InteriorVerseIIDDataset +from .kitti_dataset import KITTIDepthDataset +from .nyu_dataset import NYUDepthDataset, NYUNormalsDataset +from .oasis_dataset import OasisNormalsDataset +from .scannet_dataset import ScanNetDepthDataset, ScanNetNormalsDataset +from .sintel_dataset import SintelNormalsDataset +from .vkitti_dataset import VirtualKITTIDepthDataset dataset_name_class_dict = { - "hypersim": HypersimDataset, - "vkitti": VirtualKITTIDataset, - "nyu_v2": NYUDataset, - "kitti": KITTIDataset, - "eth3d": ETH3DDataset, - "diode": DIODEDataset, - "scannet": ScanNetDataset, + "hypersim_depth": HypersimDepthDataset, + "vkitti_depth": VirtualKITTIDepthDataset, + "nyu_depth": NYUDepthDataset, + "kitti_depth": KITTIDepthDataset, + "eth3d_depth": ETH3DDepthDataset, + "diode_depth": DIODEDepthDataset, + "scannet_depth": ScanNetDepthDataset, + "hypersim_normals": HypersimNormalsDataset, + "interiorverse_normals": InteriorVerseNormalsDataset, + "sintel_normals": SintelNormalsDataset, + "ibims_normals": IBimsNormalsDataset, + "nyu_normals": NYUNormalsDataset, + "scannet_normals": ScanNetNormalsDataset, + "diode_normals": DIODENormalsDataset, + "oasis_normals": OasisNormalsDataset, + "interiorverse_iid": InteriorVerseIIDDataset, + "hypersim_iid": HypersimIIDDataset, } def get_dataset( cfg_data_split, base_data_dir: str, mode: DatasetMode, **kwargs -) -> BaseDepthDataset: +) -> Union[ + BaseDepthDataset, + BaseIIDDataset, + BaseNormalsDataset, + List[BaseDepthDataset], + List[BaseIIDDataset], + List[BaseNormalsDataset], +]: if "mixed" == cfg_data_split.name: assert DatasetMode.TRAIN == mode, "Only training mode supports mixed datasets." dataset_ls = [ diff --git a/src/dataset/base_depth_dataset.py b/src/dataset/base_depth_dataset.py index 11efb7f..1033d40 100644 --- a/src/dataset/base_depth_dataset.py +++ b/src/dataset/base_depth_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-04-30 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,24 +12,33 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import io +import numpy as np import os import random import tarfile -from enum import Enum -from typing import Union - -import numpy as np import torch from PIL import Image +from enum import Enum from torch.utils.data import Dataset from torchvision.transforms import InterpolationMode, Resize +from typing import Union from src.util.depth_transform import DepthNormalizerBase @@ -51,12 +58,6 @@ class DepthFileNameMode(Enum): rgb_i_d = 4 -def read_image_from_tar(tar_obj, img_rel_path): - image = tar_obj.extractfile("./" + img_rel_path) - image = image.read() - image = Image.open(io.BytesIO(image)) - - class BaseDepthDataset(Dataset): def __init__( self, @@ -80,9 +81,9 @@ def __init__( # dataset info self.filename_ls_path = filename_ls_path self.dataset_dir = dataset_dir - assert os.path.exists( - self.dataset_dir - ), f"Dataset does not exist at: {self.dataset_dir}" + assert os.path.exists(self.dataset_dir), ( + f"Dataset does not exist at: {self.dataset_dir}" + ) self.disp_name = disp_name self.has_filled_depth = has_filled_depth self.name_mode: DepthFileNameMode = name_mode diff --git a/src/dataset/base_iid_dataset.py b/src/dataset/base_iid_dataset.py new file mode 100644 index 0000000..1138916 --- /dev/null +++ b/src/dataset/base_iid_dataset.py @@ -0,0 +1,207 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import os + +os.environ["OPENCV_IO_ENABLE_OPENEXR"] = "1" # Enable OpenCV support for EXR +# ruff: noqa: E402 + +import io +import tarfile +import numpy as np +import random +import torch +from enum import Enum +from torch.utils.data import Dataset +from torchvision.transforms import InterpolationMode, Resize + +from src.util.image_util import ( + img_hwc2chw, + img_linear2srgb, + is_hdr, + read_img_from_file, + read_img_from_tar, +) + + +class DatasetMode(Enum): + RGB_ONLY = "rgb_only" + EVAL = "evaluate" + TRAIN = "train" + + +class BaseIIDDataset(Dataset): + def __init__( + self, + mode: DatasetMode, + filename_ls_path: str, + dataset_dir: str, + disp_name: str, + augmentation_args: dict = None, + resize_to_hw=None, + **kwargs, + ) -> None: + super().__init__() + self.mode = mode + # dataset info + self.filename_ls_path = filename_ls_path + self.dataset_dir = dataset_dir + assert os.path.exists(self.dataset_dir), ( + f"Dataset does not exist at: {self.dataset_dir}" + ) + self.disp_name = disp_name + + # training arguments + self.augm_args = augmentation_args + self.resize_to_hw = resize_to_hw + + # Load filenames + with open(self.filename_ls_path, "r") as f: + self.filenames = [s.split() for s in f.readlines()] + + # Tar dataset + self.tar_obj = None + self.is_tar = ( + True + if os.path.isfile(self.dataset_dir) and tarfile.is_tarfile(self.dataset_dir) + else False + ) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, index): + rasters, other = self._get_data_item(index) + if DatasetMode.TRAIN == self.mode: + rasters = self._training_preprocess(rasters) + # merge + outputs = rasters + outputs.update(other) + return outputs + + def _get_data_item(self, index): + rgb_rel_path, targets_rel_path = self._get_data_path(index=index) + + rasters = {} + + # RGB data + rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path)) + + # load targets data should be filled in specialized dataset definition + if DatasetMode.RGB_ONLY != self.mode: + targets_data = self._load_targets_data(rel_paths=targets_rel_path) + rasters.update(targets_data) + + other = {"index": index, "rgb_relative_path": rgb_rel_path} + + return rasters, other + + def _read_image(self, rel_path) -> np.ndarray: + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + img = read_img_from_tar(self.tar_obj, rel_path) + else: + img = read_img_from_file(os.path.join(self.dataset_dir, rel_path)) + + if len(img.shape) == 3: # hwc->chw, except for single-channel images + img = img_hwc2chw(img) + + assert img.min() >= 0 and img.max() <= 1 + return img + + def _load_rgb_data(self, rgb_rel_path): + # rgb is in [0,1] range + rgb = self._read_image(rgb_rel_path) + + # SD is pretrained in sRGB space. If we load HDR data, we should also convert to sRGB space. + if is_hdr(rgb_rel_path): + rgb = img_linear2srgb(rgb) + + outputs = {"rgb": torch.from_numpy(rgb).float()} # [0,1] + + return outputs + + def _read_numpy(self, rel_path): + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + image_to_read = self.tar_obj.extractfile("./" + rel_path) + image_to_read = image_to_read.read() + image_to_read = io.BytesIO(image_to_read) + else: + image_to_read = os.path.join(self.dataset_dir, rel_path) + + image = np.load(image_to_read).transpose((2, 0, 1)) # [3,H,W] + return image + + def _load_targets_data(self, rel_paths): + outputs = {} + return outputs + + def _get_data_path(self, index): + filename_line = self.filenames[index] + + # Only the first is the input image, the rest should be specialized by each dataset. + rgb_rel_path = filename_line[0] + targets_rel_path = filename_line[1:] + + return rgb_rel_path, targets_rel_path + + def _training_preprocess(self, rasters): + # Augmentation + if self.augm_args is not None: + rasters = self._augment_data(rasters) + + # Resize + if self.resize_to_hw is not None: + resize_bilinear = Resize( + size=self.resize_to_hw, interpolation=InterpolationMode.BILINEAR + ) + resize_nearest = Resize( + size=self.resize_to_hw, interpolation=InterpolationMode.NEAREST_EXACT + ) + + rasters = { + k: (resize_nearest(v) if "valid_mask" in k else resize_bilinear(v)) + for k, v in rasters.items() + } + + return rasters + + def _augment_data(self, rasters): + # horizontal flip + if random.random() < self.augm_args.lr_flip_p: + rasters = {k: v.flip(-1) for k, v in rasters.items()} + + def __del__(self): + if hasattr(self, "tar_obj") and self.tar_obj is not None: + self.tar_obj.close() + self.tar_obj = None diff --git a/src/dataset/base_normals_dataset.py b/src/dataset/base_normals_dataset.py new file mode 100644 index 0000000..aac4a7b --- /dev/null +++ b/src/dataset/base_normals_dataset.py @@ -0,0 +1,271 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import io +import numpy as np +import os +import random +import tarfile +import torch +from enum import Enum +from PIL import Image +import torchvision.transforms.functional as TF +from torch.utils.data import Dataset, get_worker_info +from torchvision.transforms import InterpolationMode, Resize, ColorJitter + + +class DatasetMode(Enum): + RGB_ONLY = "rgb_only" + EVAL = "evaluate" + TRAIN = "train" + + +class BaseNormalsDataset(Dataset): + def __init__( + self, + mode: DatasetMode, + filename_ls_path: str, + dataset_dir: str, + disp_name: str, + augmentation_args: dict = None, + resize_to_hw=None, + **kwargs, + ) -> None: + super().__init__() + self.mode = mode + # dataset info + self.filename_ls_path = filename_ls_path + self.dataset_dir = dataset_dir + assert os.path.exists(self.dataset_dir), ( + f"Dataset does not exist at: {self.dataset_dir}" + ) + self.disp_name = disp_name + + # training arguments + self.augm_args = augmentation_args + self.resize_to_hw = resize_to_hw + + # Load filenames + with open(self.filename_ls_path, "r") as f: + self.filenames = [s.split() for s in f.readlines()] + + # Tar dataset + self.tar_obj = None + self.is_tar = ( + True + if os.path.isfile(dataset_dir) and tarfile.is_tarfile(dataset_dir) + else False + ) + + if self.is_tar: + self.tar_obj = tarfile.open(self.dataset_dir) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, index): + rasters, other = self._get_data_item(index) + if DatasetMode.TRAIN == self.mode: + rasters = self._training_preprocess(rasters) + # merge + outputs = rasters + outputs.update(other) + return outputs + + def _get_data_item(self, index): + rgb_rel_path, normals_rel_path = self._get_data_path(index=index) + + rasters = {} + + # RGB data + rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path)) + + # Normals data + if DatasetMode.RGB_ONLY != self.mode: + normals_data = self._load_normals_data(normals_rel_path=normals_rel_path) + rasters.update(normals_data) + + other = {"index": index, "rgb_relative_path": rgb_rel_path} + + return rasters, other + + def _load_rgb_data(self, rgb_rel_path): + # Read RGB data + rgb = self._read_rgb_file(rgb_rel_path) + rgb_norm = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1] + + outputs = { + "rgb_int": torch.from_numpy(rgb).int(), + "rgb_norm": torch.from_numpy(rgb_norm).float(), + } + return outputs + + def _load_normals_data(self, normals_rel_path): + outputs = {} + normals = torch.from_numpy( + self._read_normals_file(normals_rel_path) + ).float() # [3,H,W] + outputs["normals"] = normals + + return outputs + + def _get_data_path(self, index): + filename_line = self.filenames[index] + + # Get data path + rgb_rel_path = filename_line[0] + normals_rel_path = filename_line[1] + + return rgb_rel_path, normals_rel_path + + def _read_image(self, img_rel_path) -> np.ndarray: + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + image_to_read = self.tar_obj.extractfile("./" + img_rel_path) + image_to_read = image_to_read.read() + image_to_read = io.BytesIO(image_to_read) + else: + image_to_read = os.path.join(self.dataset_dir, img_rel_path) + image = Image.open(image_to_read) # [H, W, rgb] + image = np.asarray(image) + return image + + def _read_rgb_file(self, rel_path) -> np.ndarray: + rgb = self._read_image(rel_path) + rgb = np.transpose(rgb, (2, 0, 1)).astype(int) # [rgb, H, W] + return rgb + + def _read_normals_file(self, rel_path): + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + # normal = self.tar_obj.extractfile(f'./{tar_name}/'+rel_path) + normal = self.tar_obj.extractfile("./" + rel_path) + normal = normal.read() + normal = np.load(io.BytesIO(normal)) # [H, W, 3] + else: + normal_path = os.path.join(self.dataset_dir, rel_path) + normal = np.load(normal_path) + normal = np.transpose(normal, (2, 0, 1)) # [3, H, W] + return normal + + def _training_preprocess(self, rasters): + # Augmentation + if self.augm_args is not None: + rasters = self._augment_data(rasters) + + # Resize + if self.resize_to_hw is not None: + resize_transform = Resize( + size=self.resize_to_hw, interpolation=InterpolationMode.BILINEAR + ) + rasters = {k: resize_transform(v) for k, v in rasters.items()} + + return rasters + + def _augment_data(self, rasters): + # horizontal flip (gt normals have to be flipped too) + if random.random() < self.augm_args.lr_flip_p: + rasters = {k: v.flip(-1) for k, v in rasters.items()} + rasters["normals"][0, :, :] *= -1 + + # if the process is on the main thread, we can use gpu to to the augmentation + use_gpu = get_worker_info() is None + if use_gpu: + rasters = {k: v.cuda() for k, v in rasters.items()} + + # random gaussian blur + if ( + random.random() < self.augm_args.gaussian_blur_p + and rasters["rgb_int"].shape[-2] == 768 + ): # only blur if Hypersim sample + random_rgb_sigma = random.uniform(0.0, self.augm_args.gaussian_blur_sigma) + rasters["rgb_int"] = TF.gaussian_blur( + rasters["rgb_int"], kernel_size=33, sigma=random_rgb_sigma + ).int() + + # motion blur + if ( + random.random() < self.augm_args.motion_blur_p + and rasters["rgb_int"].shape[-2] == 768 + ): # only blur if Hypersim sample + random_kernel_size = random.choice( + [ + x + for x in range(3, self.augm_args.motion_blur_kernel_size + 1) + if x % 2 == 1 + ] + ) + kernel = torch.zeros( + random_kernel_size, + random_kernel_size, + dtype=rasters["rgb_int"].dtype, + device=rasters["rgb_int"].device, + ) + kernel[random_kernel_size // 2, :] = torch.ones(random_kernel_size) + kernel = TF.rotate( + kernel.unsqueeze(0), + random.uniform(0.0, self.augm_args.motion_blur_angle_range), + ) + kernel = kernel / kernel.sum() + channels = rasters["rgb_int"].shape[0] + kernel = kernel.expand(channels, 1, random_kernel_size, random_kernel_size) + rasters["rgb_int"] = ( + torch.conv2d( + rasters["rgb_int"].unsqueeze(0).float(), + kernel, + stride=1, + padding=random_kernel_size // 2, + groups=channels, + ) + .squeeze(0) + .int() + ) + # color jitter + if random.random() < self.augm_args.color_jitter_p: + color_jitter = ColorJitter( + brightness=self.augm_args.jitter_brightness_factor, + contrast=self.augm_args.jitter_contrast_factor, + saturation=self.augm_args.jitter_saturation_factor, + hue=self.augm_args.jitter_hue_factor, + ) + rgb_int_temp = rasters["rgb_int"].float() / 255.0 + rgb_int_temp = color_jitter(rgb_int_temp) + rasters["rgb_int"] = (rgb_int_temp * 255.0).int() + + # update normalized rgb + rasters["rgb_norm"] = rasters["rgb_int"].float() / 255.0 * 2.0 - 1.0 + return rasters + + def __del__(self): + if hasattr(self, "tar_obj") and self.tar_obj is not None: + self.tar_obj.close() + self.tar_obj = None diff --git a/src/dataset/diode_dataset.py b/src/dataset/diode_dataset.py index 509fb10..02af4fc 100644 --- a/src/dataset/diode_dataset.py +++ b/src/dataset/diode_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-26 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,23 +12,33 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +import numpy as np import os import tarfile -from io import BytesIO - -import numpy as np import torch +from io import BytesIO from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode, DatasetMode +from .base_normals_dataset import BaseNormalsDataset -class DIODEDataset(BaseDepthDataset): +class DIODEDepthDataset(BaseDepthDataset): def __init__( self, **kwargs, @@ -89,3 +97,8 @@ def _get_data_item(self, index): other = {"index": index, "rgb_relative_path": rgb_rel_path} return rasters, other + + +class DIODENormalsDataset(BaseNormalsDataset): + def __getitem__(self, index): + return super().__getitem__(index) diff --git a/src/dataset/eth3d_dataset.py b/src/dataset/eth3d_dataset.py index 02810b8..edd84f5 100644 --- a/src/dataset/eth3d_dataset.py +++ b/src/dataset/eth3d_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,21 +12,31 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- -import torch -import tarfile -import os import numpy as np +import os +import tarfile +import torch from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode -class ETH3DDataset(BaseDepthDataset): +class ETH3DDepthDataset(BaseDepthDataset): HEIGHT, WIDTH = 4032, 6048 def __init__( diff --git a/src/dataset/hypersim_dataset.py b/src/dataset/hypersim_dataset.py index 886a2be..710fa04 100644 --- a/src/dataset/hypersim_dataset.py +++ b/src/dataset/hypersim_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,17 +12,30 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- +import torch from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +from .base_normals_dataset import BaseNormalsDataset +from .base_iid_dataset import BaseIIDDataset, DatasetMode -class HypersimDataset(BaseDepthDataset): +class HypersimDepthDataset(BaseDepthDataset): def __init__( self, **kwargs, @@ -43,3 +54,90 @@ def _read_depth_file(self, rel_path): # Decode Hypersim depth depth_decoded = depth_in / 1000.0 return depth_decoded + + +class HypersimNormalsDataset(BaseNormalsDataset): + pass + + +class HypersimIIDDataset(BaseIIDDataset): + def _load_targets_data(self, rel_paths): + albedo_path = rel_paths[0] # albedo_cam_00_fr0000.npy + shading_path = rel_paths[1] # shading_cam_00_fr0000.npy + residual_path = rel_paths[2] # residual_cam_00_fr0000.npy + + albedo_raw = self._read_numpy(albedo_path) # in linear space + shading_raw = self._read_numpy(shading_path) + residual_raw = self._read_numpy(residual_path) + + rasters = { + "albedo": torch.from_numpy(albedo_raw).float(), # [0,1] linear space + "shading_raw": torch.from_numpy(shading_raw), + "residual_raw": torch.from_numpy(residual_raw), + } + del albedo_raw, shading_raw, residual_raw + + # get the cut off value for shading/residual + cut_off_value = self._get_cut_off_value(rasters) + # clip and normalize shading and residual (to bring them to the same scale and value range) + rasters = self._process_shading_residual(rasters, cut_off_value) + + # Load masks + valid_mask_albedo, valid_mask_shading, valid_mask_residual = ( + self._get_valid_masks(rasters) + ) + rasters.update( + { + "mask_albedo": valid_mask_albedo.bool(), + "mask_shading": valid_mask_shading.bool(), + "mask_residual": valid_mask_residual.bool(), + } + ) + return rasters + + def _process_shading_residual(self, rasters, cut_off_value): + # Clip by cut_off_value + shading_clipped = torch.clip(rasters["shading_raw"], 0, cut_off_value) + residual_clipped = torch.clip(rasters["residual_raw"], 0, cut_off_value) + # Divide by them same cut off value to bring them to the same scale + shading_norm = shading_clipped / cut_off_value # [0,1] + residual_norm = residual_clipped / cut_off_value # [0,1] + + rasters.update( + { + "shading": shading_norm.float(), + "residual": residual_norm.float(), + } + ) + return rasters + + def _get_cut_off_value(self, rasters): + shading_raw = rasters["shading_raw"] + residual_raw = rasters["residual_raw"] + + # take the maximum of residual_98 and shading_98 as cutoff value + residual_98 = torch.quantile(residual_raw, 0.98) + shading_98 = torch.quantile(shading_raw, 0.98) + cut_off_value = torch.max(torch.tensor([residual_98, shading_98])) + + return cut_off_value + + def _get_valid_masks(self, rasters): + albedo_gt_ts = rasters["albedo"] # [3,H,W] + invalid_mask_albedo = torch.isnan(albedo_gt_ts) | torch.isinf(albedo_gt_ts) + zero_mask = (albedo_gt_ts == 0).all(dim=0, keepdim=True) + zero_mask = zero_mask.expand_as(albedo_gt_ts) + invalid_mask_albedo |= zero_mask + valid_mask_albedo = ~invalid_mask_albedo + + shading_gt_ts = rasters["shading"] + invalid_mask_shading = torch.isnan(shading_gt_ts) | torch.isinf(shading_gt_ts) + valid_mask_shading = ~invalid_mask_shading + + residual_gt_ts = rasters["residual"] + invalid_mask_residual = torch.isnan(residual_gt_ts) | torch.isinf( + residual_gt_ts + ) + valid_mask_residual = ~invalid_mask_residual + + return valid_mask_albedo, valid_mask_shading, valid_mask_residual diff --git a/src/dataset/ibims_dataset.py b/src/dataset/ibims_dataset.py new file mode 100644 index 0000000..a488d23 --- /dev/null +++ b/src/dataset/ibims_dataset.py @@ -0,0 +1,35 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +from .base_normals_dataset import BaseNormalsDataset + + +class IBimsNormalsDataset(BaseNormalsDataset): + pass diff --git a/src/dataset/interiorverse_dataset.py b/src/dataset/interiorverse_dataset.py new file mode 100644 index 0000000..56a9aac --- /dev/null +++ b/src/dataset/interiorverse_dataset.py @@ -0,0 +1,83 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import numpy as np +import torch + +from src.util.image_util import img_linear2srgb, is_hdr +from .base_iid_dataset import BaseIIDDataset, DatasetMode +from .base_normals_dataset import BaseNormalsDataset + + +class InteriorVerseNormalsDataset(BaseNormalsDataset): + pass + + +# https://github.com/jingsenzhu/IndoorInverseRendering/tree/main/interiorverse +class InteriorVerseIIDDataset(BaseIIDDataset): + def _load_targets_data(self, rel_paths): + albedo_path = rel_paths[0] # 000_albedo.exr + material_path = rel_paths[1] # 000_material.exr + mask_path = rel_paths[2] # 000_mask.exr + + albedo_img = self._read_image(albedo_path) + material_img = self._read_image( + material_path + ) # R is roughness, G is metallicity + material_img[2, :, :] = 0 + + mask_img = self._read_image(mask_path) + mask_img = mask_img != 0 # Convert to a boolean np array + mask_img_squeezed = np.expand_dims( + np.all(mask_img, axis=0), axis=0 + ) # Convert 3 channel to 1 channel + + # SD is pretrained in sRGB space. If we load HDR data, we should also convert to sRGB space. + if is_hdr(albedo_path): + albedo_img = img_linear2srgb(albedo_img) + + if is_hdr(material_path): + material_img = img_linear2srgb(material_img) + + outputs = { + "albedo": torch.from_numpy(albedo_img), + "material": torch.from_numpy(material_img), + "mask": torch.from_numpy(mask_img_squeezed), + } + + # add three channel mask for evaluation + if self.mode == DatasetMode.EVAL: + eval_masks = { + "mask_albedo": torch.from_numpy(mask_img).bool(), + "mask_material": torch.from_numpy(mask_img).bool(), + } + outputs.update(eval_masks) + + return outputs diff --git a/src/dataset/kitti_dataset.py b/src/dataset/kitti_dataset.py index 5daa760..c92f931 100644 --- a/src/dataset/kitti_dataset.py +++ b/src/dataset/kitti_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,10 +12,20 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import torch @@ -25,7 +33,7 @@ from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode -class KITTIDataset(BaseDepthDataset): +class KITTIDepthDataset(BaseDepthDataset): def __init__( self, kitti_bm_crop, # Crop to KITTI benchmark size diff --git a/src/dataset/mixed_sampler.py b/src/dataset/mixed_sampler.py index 3abc60f..d9514d0 100644 --- a/src/dataset/mixed_sampler.py +++ b/src/dataset/mixed_sampler.py @@ -1,6 +1,4 @@ -# Last modified: 2024-04-18 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,10 +12,20 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import torch diff --git a/src/dataset/nyu_dataset.py b/src/dataset/nyu_dataset.py index e3f1e80..aee3272 100644 --- a/src/dataset/nyu_dataset.py +++ b/src/dataset/nyu_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,18 +12,29 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import torch from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +from .base_normals_dataset import BaseNormalsDataset -class NYUDataset(BaseDepthDataset): +class NYUDepthDataset(BaseDepthDataset): def __init__( self, eigen_valid_mask: bool, @@ -59,3 +68,7 @@ def _get_valid_mask(self, depth: torch.Tensor): valid_mask = torch.logical_and(valid_mask, eval_mask) return valid_mask + + +class NYUNormalsDataset(BaseNormalsDataset): + pass diff --git a/src/dataset/oasis_dataset.py b/src/dataset/oasis_dataset.py new file mode 100644 index 0000000..29476e7 --- /dev/null +++ b/src/dataset/oasis_dataset.py @@ -0,0 +1,35 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +from .base_normals_dataset import BaseNormalsDataset + + +class OasisNormalsDataset(BaseNormalsDataset): + pass diff --git a/src/dataset/scannet_dataset.py b/src/dataset/scannet_dataset.py index c401f92..ba8ed94 100644 --- a/src/dataset/scannet_dataset.py +++ b/src/dataset/scannet_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,16 +12,27 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +from .base_normals_dataset import BaseNormalsDataset -class ScanNetDataset(BaseDepthDataset): +class ScanNetDepthDataset(BaseDepthDataset): def __init__( self, **kwargs, @@ -42,3 +51,7 @@ def _read_depth_file(self, rel_path): # Decode ScanNet depth depth_decoded = depth_in / 1000.0 return depth_decoded + + +class ScanNetNormalsDataset(BaseNormalsDataset): + pass diff --git a/src/dataset/sintel_dataset.py b/src/dataset/sintel_dataset.py new file mode 100644 index 0000000..13f721b --- /dev/null +++ b/src/dataset/sintel_dataset.py @@ -0,0 +1,77 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import torch + +from .base_normals_dataset import BaseNormalsDataset + +# Sintel original resolution +H, W = 436, 1024 + + +# crop to [436,582] --> later upsample with factor 1.1 to [480,640] +# crop off 221 pixels on both sides (1024 - 2*221 = 582) +def center_crop(img): + assert img.shape[0] == 3 or img.shape[0] == 1, "Channel dim should be first dim" + crop = 221 + + out = img[:, :, crop : W - crop] # [3,H,W] + + return out # [3,436,582] + + +class SintelNormalsDataset(BaseNormalsDataset): + def _load_rgb_data(self, rgb_rel_path): + # Read RGB data + rgb = self._read_rgb_file(rgb_rel_path) + rgb = center_crop(rgb) + rgb_norm = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1] + + outputs = { + "rgb_int": torch.from_numpy(rgb).int(), + "rgb_norm": torch.from_numpy(rgb_norm).float(), + } + return outputs + + def _load_normals_data(self, normals_rel_path): + outputs = {} + normals = torch.from_numpy( + self._read_normals_file(normals_rel_path) + ).float() # [3,H,W] + + # replace invalid sky values with camera facing normals + valid_normal_mask = torch.norm(normals, p=2, dim=0) > 0.1 + normals[:, ~valid_normal_mask] = torch.tensor( + [0.0, 0.0, 1.0], dtype=normals.dtype + ).view(3, 1) + # crop on both sides + outputs["normals"] = center_crop(normals) + + return outputs diff --git a/src/dataset/vkitti_dataset.py b/src/dataset/vkitti_dataset.py index ceb7903..e9294f9 100644 --- a/src/dataset/vkitti_dataset.py +++ b/src/dataset/vkitti_dataset.py @@ -1,6 +1,4 @@ -# Last modified: 2024-02-08 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -14,19 +12,29 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- import torch from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode -from .kitti_dataset import KITTIDataset +from .kitti_dataset import KITTIDepthDataset -class VirtualKITTIDataset(BaseDepthDataset): +class VirtualKITTIDepthDataset(BaseDepthDataset): def __init__( self, kitti_bm_crop, # Crop to KITTI benchmark size @@ -62,7 +70,8 @@ def _load_rgb_data(self, rgb_rel_path): rgb_data = super()._load_rgb_data(rgb_rel_path) if self.kitti_bm_crop: rgb_data = { - k: KITTIDataset.kitti_benchmark_crop(v) for k, v in rgb_data.items() + k: KITTIDepthDataset.kitti_benchmark_crop(v) + for k, v in rgb_data.items() } return rgb_data @@ -70,7 +79,8 @@ def _load_depth_data(self, depth_rel_path, filled_rel_path): depth_data = super()._load_depth_data(depth_rel_path, filled_rel_path) if self.kitti_bm_crop: depth_data = { - k: KITTIDataset.kitti_benchmark_crop(v) for k, v in depth_data.items() + k: KITTIDepthDataset.kitti_benchmark_crop(v) + for k, v in depth_data.items() } return depth_data diff --git a/src/trainer/__init__.py b/src/trainer/__init__.py index 435ea49..fbee2de 100644 --- a/src/trainer/__init__.py +++ b/src/trainer/__init__.py @@ -1,11 +1,42 @@ -# Author: Bingxin Ke -# Last modified: 2024-05-17 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- -from .marigold_trainer import MarigoldTrainer +from .marigold_depth_trainer import MarigoldDepthTrainer +from .marigold_iid_trainer import MarigoldIIDTrainer +from .marigold_normals_trainer import MarigoldNormalsTrainer trainer_cls_name_dict = { - "MarigoldTrainer": MarigoldTrainer, + "MarigoldDepthTrainer": MarigoldDepthTrainer, + "MarigoldIIDTrainer": MarigoldIIDTrainer, + "MarigoldNormalsTrainer": MarigoldNormalsTrainer, } diff --git a/src/trainer/marigold_trainer.py b/src/trainer/marigold_depth_trainer.py similarity index 88% rename from src/trainer/marigold_trainer.py rename to src/trainer/marigold_depth_trainer.py index 8be2dee..c15d6a4 100644 --- a/src/trainer/marigold_trainer.py +++ b/src/trainer/marigold_depth_trainer.py @@ -1,7 +1,4 @@ -# An official reimplemented version of Marigold training script. -# Last modified: 2024-08-16 -# -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -15,22 +12,30 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold. -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - import logging +import numpy as np import os import shutil -from datetime import datetime -from typing import List, Union - -import numpy as np import torch -from diffusers import DDPMScheduler +from PIL import Image +from datetime import datetime +from diffusers import DDPMScheduler, DDIMScheduler from omegaconf import OmegaConf from torch.nn import Conv2d from torch.nn.parameter import Parameter @@ -38,28 +43,27 @@ from torch.optim.lr_scheduler import LambdaLR from torch.utils.data import DataLoader from tqdm import tqdm -from PIL import Image +from typing import List, Union -from marigold.marigold_pipeline import MarigoldPipeline, MarigoldDepthOutput +from marigold.marigold_depth_pipeline import MarigoldDepthPipeline, MarigoldDepthOutput from src.util import metric +from src.util.alignment import align_depth_least_square from src.util.data_loader import skip_first_batches -from src.util.logging_util import tb_logger, eval_dic_to_text +from src.util.logging_util import tb_logger, eval_dict_to_text from src.util.loss import get_loss from src.util.lr_scheduler import IterExponential from src.util.metric import MetricTracker from src.util.multi_res_noise import multi_res_noise_like -from src.util.alignment import align_depth_least_square from src.util.seeding import generate_seed_sequence -class MarigoldTrainer: +class MarigoldDepthTrainer: def __init__( self, cfg: OmegaConf, - model: MarigoldPipeline, + model: MarigoldDepthPipeline, train_dataloader: DataLoader, device, - base_ckpt_dir, out_dir_ckpt, out_dir_eval, out_dir_vis, @@ -68,7 +72,7 @@ def __init__( vis_dataloaders: List[DataLoader] = None, ): self.cfg: OmegaConf = cfg - self.model: MarigoldPipeline = model + self.model: MarigoldDepthPipeline = model self.device = device self.seed: Union[int, None] = ( self.cfg.trainer.init_seed @@ -112,31 +116,45 @@ def __init__( self.loss = get_loss(loss_name=self.cfg.loss.name, **self.cfg.loss.kwargs) # Training noise scheduler - self.training_noise_scheduler: DDPMScheduler = DDPMScheduler.from_pretrained( - os.path.join( - base_ckpt_dir, - cfg.trainer.training_noise_scheduler.pretrained_path, - "scheduler", - ) + self.training_noise_scheduler: DDPMScheduler = DDPMScheduler.from_config( + self.model.scheduler.config, + rescale_betas_zero_snr=True, + timestep_spacing="trailing", + ) + + logging.info( + "DDPM training noise scheduler config is updated: " + f"rescale_betas_zero_snr = {self.training_noise_scheduler.config.rescale_betas_zero_snr}, " + f"timestep_spacing = {self.training_noise_scheduler.config.timestep_spacing}" ) + self.prediction_type = self.training_noise_scheduler.config.prediction_type - assert ( - self.prediction_type == self.model.scheduler.config.prediction_type - ), "Different prediction types" + assert self.prediction_type == self.model.scheduler.config.prediction_type, ( + "Different prediction types" + ) self.scheduler_timesteps = ( self.training_noise_scheduler.config.num_train_timesteps ) + # Inference DDIM scheduler (used for validation) + self.model.scheduler = DDIMScheduler.from_config( + self.training_noise_scheduler.config, + ) + # Eval metrics self.metric_funcs = [getattr(metric, _met) for _met in cfg.eval.eval_metrics] + self.train_metrics = MetricTracker(*["loss"]) self.val_metrics = MetricTracker(*[m.__name__ for m in self.metric_funcs]) + # main metric for best checkpoint saving self.main_val_metric = cfg.validation.main_val_metric self.main_val_metric_goal = cfg.validation.main_val_metric_goal - assert ( - self.main_val_metric in cfg.eval.eval_metrics - ), f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." + + assert self.main_val_metric in cfg.eval.eval_metrics, ( + f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." + ) + self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 # Settings @@ -231,16 +249,14 @@ def train(self, t_end=None): invalid_mask.float(), 8, 8 ).bool() valid_mask_down = valid_mask_down.repeat((1, 4, 1, 1)) - else: - raise NotImplementedError batch_size = rgb.shape[0] with torch.no_grad(): # Encode image - rgb_latent = self.model.encode_rgb(rgb) # [B, 4, h, w] + rgb_latent = self.encode_rgb(rgb) # [B, 4, h, w] # Encode GT depth - gt_depth_latent = self.encode_depth( + gt_target_latent = self.encode_depth( depth_gt_for_latent ) # [B, 4, h, w] @@ -260,7 +276,7 @@ def train(self, t_end=None): # calculate strength depending on t strength = strength * (timesteps / self.scheduler_timesteps) noise = multi_res_noise_like( - gt_depth_latent, + gt_target_latent, strength=strength, downscale_strategy=self.mr_noise_downscale_strategy, generator=rand_num_generator, @@ -268,14 +284,14 @@ def train(self, t_end=None): ) else: noise = torch.randn( - gt_depth_latent.shape, + gt_target_latent.shape, device=device, generator=rand_num_generator, ) # [B, 4, h, w] # Add noise to the latents (diffusion forward process) noisy_latents = self.training_noise_scheduler.add_noise( - gt_depth_latent, noise, timesteps + gt_target_latent, noise, timesteps ) # [B, 4, h, w] # Text embedding @@ -283,7 +299,7 @@ def train(self, t_end=None): (batch_size, 1, 1) ) # [B, 77, 1024] - # Concat rgb and depth latents + # Concat rgb and target latents cat_latents = torch.cat( [rgb_latent, noisy_latents], dim=1 ) # [B, 8, h, w] @@ -298,13 +314,13 @@ def train(self, t_end=None): # Get the target for loss depending on the prediction type if "sample" == self.prediction_type: - target = gt_depth_latent + target = gt_target_latent elif "epsilon" == self.prediction_type: target = noise elif "v_prediction" == self.prediction_type: target = self.training_noise_scheduler.get_velocity( - gt_depth_latent, noise, timesteps - ) # [B, 4, h, w] + gt_target_latent, noise, timesteps + ) else: raise ValueError(f"Unknown prediction type {self.prediction_type}") @@ -339,7 +355,7 @@ def train(self, t_end=None): # Log to tensorboard accumulated_loss = self.train_metrics.result()["loss"] - tb_logger.log_dic( + tb_logger.log_dict( { f"train/{k}": v for k, v in self.train_metrics.result().items() @@ -384,6 +400,11 @@ def train(self, t_end=None): # Epoch end self.n_batch_in_epoch = 0 + def encode_rgb(self, image_in): + assert len(image_in.shape) == 4 and image_in.shape[1] == 3 + latent = self.model.encode_rgb(image_in) + return latent + def encode_depth(self, depth_in): # stack depth into 3-channel stacked = self.stack_depth_images(depth_in) @@ -396,8 +417,7 @@ def stack_depth_images(depth_in): if 4 == len(depth_in.shape): stacked = depth_in.repeat(1, 3, 1, 1) elif 3 == len(depth_in.shape): - stacked = depth_in.unsqueeze(1) - stacked = depth_in.repeat(1, 3, 1, 1) + stacked = depth_in.unsqueeze(1).repeat(1, 3, 1, 1) return stacked def _train_step_callback(self): @@ -433,19 +453,19 @@ def _train_step_callback(self): def validate(self): for i, val_loader in enumerate(self.val_loaders): val_dataset_name = val_loader.dataset.disp_name - val_metric_dic = self.validate_single_dataset( + val_metric_dict = self.validate_single_dataset( data_loader=val_loader, metric_tracker=self.val_metrics ) logging.info( - f"Iter {self.effective_iter}. Validation metrics on `{val_dataset_name}`: {val_metric_dic}" + f"Iter {self.effective_iter}. Validation metrics on `{val_dataset_name}`: {val_metric_dict}" ) - tb_logger.log_dic( - {f"val/{val_dataset_name}/{k}": v for k, v in val_metric_dic.items()}, + tb_logger.log_dict( + {f"val/{val_dataset_name}/{k}": v for k, v in val_metric_dict.items()}, global_step=self.effective_iter, ) # save to file - eval_text = eval_dic_to_text( - val_metrics=val_metric_dic, + eval_text = eval_dict_to_text( + val_metrics=val_metric_dict, dataset_name=val_dataset_name, sample_list_path=val_loader.dataset.filename_ls_path, ) @@ -458,7 +478,7 @@ def validate(self): # Update main eval metric if 0 == i: - main_eval_metric = val_metric_dic[self.main_val_metric] + main_eval_metric = val_metric_dict[self.main_val_metric] if ( "minimize" == self.main_val_metric_goal and main_eval_metric < self.best_metric @@ -607,9 +627,14 @@ def save_checkpoint(self, ckpt_name, save_train_state): # Save UNet unet_path = os.path.join(ckpt_dir, "unet") - self.model.unet.save_pretrained(unet_path, safe_serialization=False) + self.model.unet.save_pretrained(unet_path, safe_serialization=True) logging.info(f"UNet is saved to: {unet_path}") + # Save scheduler + scheduelr_path = os.path.join(ckpt_dir, "scheduler") + self.model.scheduler.save_pretrained(scheduelr_path) + logging.info(f"Scheduler is saved to: {scheduelr_path}") + if save_train_state: state = { "optimizer": self.optimizer.state_dict(), diff --git a/src/trainer/marigold_iid_trainer.py b/src/trainer/marigold_iid_trainer.py new file mode 100644 index 0000000..3fb4c31 --- /dev/null +++ b/src/trainer/marigold_iid_trainer.py @@ -0,0 +1,739 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import logging +import os +import shutil +import torch +from datetime import datetime +from diffusers import DDPMScheduler, DDIMScheduler +from itertools import product +from omegaconf import OmegaConf +from torchmetrics.image import PeakSignalNoiseRatio +from torch.nn import Conv2d +from torch.nn.parameter import Parameter +from torch.optim import Adam +from torch.optim.lr_scheduler import LambdaLR +from torch.utils.data import DataLoader +from tqdm import tqdm +from typing import List, Union + +from marigold.marigold_iid_pipeline import MarigoldIIDPipeline, MarigoldIIDOutput +from src.util import metric +from src.util.data_loader import skip_first_batches +from src.util.image_util import ( + img_normalize, + write_img, + img_float2int, + img_srgb2linear, + img_linear2srgb, + img_chw2hwc, +) +from src.util.logging_util import tb_logger, eval_dict_to_text +from src.util.loss import get_loss +from src.util.lr_scheduler import IterExponential +from src.util.metric import MetricTracker +from src.util.multi_res_noise import multi_res_noise_like +from src.util.seeding import generate_seed_sequence +from src.util.metric import compute_iid_metric +from marigold.util.image_util import linear2srgb + + +class MarigoldIIDTrainer: + def __init__( + self, + cfg: OmegaConf, + model: MarigoldIIDPipeline, + train_dataloader: DataLoader, + device, + out_dir_ckpt, + out_dir_eval, + out_dir_vis, + accumulation_steps: int, + val_dataloaders: List[DataLoader] = None, + vis_dataloaders: List[DataLoader] = None, + ): + self.cfg: OmegaConf = cfg + self.model: MarigoldIIDPipeline = model + self.device = device + self.seed: Union[int, None] = ( + self.cfg.trainer.init_seed + ) # used to generate seed sequence, set to `None` to train w/o seeding + self.out_dir_ckpt = out_dir_ckpt + self.out_dir_eval = out_dir_eval + self.out_dir_vis = out_dir_vis + self.train_loader: DataLoader = train_dataloader + self.val_loaders: List[DataLoader] = val_dataloaders + self.vis_loaders: List[DataLoader] = vis_dataloaders + self.accumulation_steps: int = accumulation_steps + + # Adapt input layers + if 4 * (model.n_targets + 1) != self.model.unet.config["in_channels"]: + self._replace_unet_conv_in_out_multimodal() + + # Encode empty text prompt + self.model.encode_empty_text() + self.empty_text_embed = self.model.empty_text_embed.detach().clone().to(device) + + self.model.unet.enable_xformers_memory_efficient_attention() + + # Trainability + self.model.vae.requires_grad_(False) + self.model.text_encoder.requires_grad_(False) + self.model.unet.requires_grad_(True) + + # Optimizer !should be defined after input layer is adapted + lr = self.cfg.lr + self.optimizer = Adam(self.model.unet.parameters(), lr=lr) + + self.targets_to_eval_in_linear_space = ( + self.cfg.eval.targets_to_eval_in_linear_space + ) + + # LR scheduler + lr_func = IterExponential( + total_iter_length=self.cfg.lr_scheduler.kwargs.total_iter, + final_ratio=self.cfg.lr_scheduler.kwargs.final_ratio, + warmup_steps=self.cfg.lr_scheduler.kwargs.warmup_steps, + ) + self.lr_scheduler = LambdaLR(optimizer=self.optimizer, lr_lambda=lr_func) + + # Loss + self.loss = get_loss(loss_name=self.cfg.loss.name, **self.cfg.loss.kwargs) + + # Training noise scheduler + self.training_noise_scheduler: DDPMScheduler = DDPMScheduler.from_config( + self.model.scheduler.config, + rescale_betas_zero_snr=True, + timestep_spacing="trailing", + ) + + logging.info( + "DDPM training noise scheduler config is updated: " + f"rescale_betas_zero_snr = {self.training_noise_scheduler.config.rescale_betas_zero_snr}, " + f"timestep_spacing = {self.training_noise_scheduler.config.timestep_spacing}" + ) + + self.prediction_type = self.training_noise_scheduler.config.prediction_type + assert self.prediction_type == self.model.scheduler.config.prediction_type, ( + "Different prediction types" + ) + self.scheduler_timesteps = ( + self.training_noise_scheduler.config.num_train_timesteps + ) + + # Inference DDIM scheduler (used for validation) + self.model.scheduler = DDIMScheduler.from_config( + self.training_noise_scheduler.config, + ) + + self.train_metrics = MetricTracker(*["loss"]) + val_metric_names = [ + f"{target}_{cfg.validation.main_val_metric}" + for target in model.target_names + ] + + self.val_metrics = MetricTracker(*val_metric_names) + self._val_metric = PeakSignalNoiseRatio(data_range=1.0).to(device) + + # main metric for best checkpoint saving + if "albedo" in model.target_names: + self.main_val_metric = "albedo_" + cfg.validation.main_val_metric + else: + self.main_val_metric = ( + model.target_names[0] + "_" + cfg.validation.main_val_metric + ) + + self.main_val_metric_goal = cfg.validation.main_val_metric_goal + + assert self.main_val_metric in val_metric_names, ( + f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." + ) + + self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 + + # Settings + self.max_epoch = self.cfg.max_epoch + self.max_iter = self.cfg.max_iter + self.gradient_accumulation_steps = accumulation_steps + self.gt_mask_type = self.cfg.gt_mask_type + self.save_period = self.cfg.trainer.save_period + self.backup_period = self.cfg.trainer.backup_period + self.val_period = self.cfg.trainer.validation_period + self.vis_period = self.cfg.trainer.visualization_period + + # Multi-resolution noise + self.apply_multi_res_noise = self.cfg.multi_res_noise is not None + if self.apply_multi_res_noise: + self.mr_noise_strength = self.cfg.multi_res_noise.strength + self.annealed_mr_noise = self.cfg.multi_res_noise.annealed + self.mr_noise_downscale_strategy = ( + self.cfg.multi_res_noise.downscale_strategy + ) + + # Internal variables + self.epoch = 1 + self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training + self.effective_iter = 0 # how many times optimizer.step() is called + self.in_evaluation = False + self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + + def _replace_unet_conv_in_out_multimodal(self): + n_outputs = self.model.n_targets + # replace the first layer to accept (n+1)*4 in_channels + _weight = self.model.unet.conv_in.weight.clone() # [320, 4, 3, 3] + _bias = self.model.unet.conv_in.bias.clone() # [320] + _weight = _weight.repeat((1, n_outputs + 1, 1, 1)) # Keep selected channel(s) + # scale the activation magnitude + _weight /= n_outputs + 1 + # new conv_in channel + _n_convin_out_channel = self.model.unet.conv_in.out_channels + _new_conv_in = Conv2d( + (n_outputs + 1) * 4, + _n_convin_out_channel, + kernel_size=(3, 3), + stride=(1, 1), + padding=(1, 1), + ) + _new_conv_in.weight = Parameter(_weight) + _new_conv_in.bias = Parameter(_bias) + self.model.unet.conv_in = _new_conv_in + logging.info("Unet conv_in layer is replaced") + + # replace the last layer to output n*4 in_channels + _weight = self.model.unet.conv_out.weight.clone() # [4, 320, 3, 3] + _bias = self.model.unet.conv_out.bias.clone() # [4] + _weight = _weight.repeat((n_outputs, 1, 1, 1)) + _bias = _bias.repeat(n_outputs) + # Since we are repeating output channels, no need to scale the weights here. + _n_convout_in_channel = self.model.unet.conv_out.in_channels + _new_conv_out = Conv2d( + _n_convout_in_channel, + n_outputs * 4, + kernel_size=(3, 3), + stride=(1, 1), + padding=(1, 1), + ) + _new_conv_out.weight = Parameter(_weight) + _new_conv_out.bias = Parameter(_bias) + self.model.unet.conv_out = _new_conv_out + logging.info("Unet conv_out layer is replaced") + + # replace config + self.model.unet.config["in_channels"] = (n_outputs + 1) * 4 + self.model.unet.config["out_channels"] = n_outputs * 4 + logging.info("Unet config is updated") + return + + def train(self, t_end=None): + logging.info("Start training") + + device = self.device + self.model.to(device) + + if self.in_evaluation: + logging.info( + "Last evaluation was not finished, will do evaluation before continue training." + ) + self.validate() + + self.train_metrics.reset() + accumulated_step = 0 + + ch_target_latent = 4 * self.model.n_targets + + for epoch in range(self.epoch, self.max_epoch + 1): + self.epoch = epoch + logging.debug(f"epoch: {self.epoch}") + + # Skip previous batches when resume + for batch in skip_first_batches(self.train_loader, self.n_batch_in_epoch): + self.model.unet.train() + + # globally consistent random generators + if self.seed is not None: + local_seed = self._get_next_seed() + rand_num_generator = torch.Generator(device=device) + rand_num_generator.manual_seed(local_seed) + else: + rand_num_generator = None + + # >>> With gradient accumulation >>> + + # Get data, send to device, normalize + batch["rgb"] = img_normalize(batch["rgb"].to(device)) + for modality in self.model.target_names: + batch[modality] = img_normalize(batch[modality].to(device)) + + if self.gt_mask_type is not None: + valid_mask_for_latent = batch[self.gt_mask_type].to(device) + invalid_mask = ~valid_mask_for_latent + valid_mask_down = ~torch.max_pool2d( + invalid_mask.float(), 8, 8 + ).bool() + valid_mask_down = valid_mask_down.repeat( + (1, ch_target_latent, 1, 1) + ) + + batch_size = batch["rgb"].shape[0] + + with torch.no_grad(): + # Encode image + rgb_latent = self.encode_rgb(batch["rgb"]) # [B, 4, h, w] + # Encode iid properties + gt_target_latent = torch.cat( + [ + self.encode_rgb(batch[target_name]) + for target_name in self.model.target_names + ], + dim=1, + ) # [B, 4*n_targets, h, w] + + # Sample a random timestep for each image + timesteps = torch.randint( + 0, + self.scheduler_timesteps, + (batch_size,), + device=device, + generator=rand_num_generator, + ).long() # [B] + + # Sample noise + if self.apply_multi_res_noise: + strength = self.mr_noise_strength + if self.annealed_mr_noise: + # calculate strength depending on t + strength = strength * (timesteps / self.scheduler_timesteps) + noise = multi_res_noise_like( + gt_target_latent, + strength=strength, + downscale_strategy=self.mr_noise_downscale_strategy, + generator=rand_num_generator, + device=device, + ) + else: + noise = torch.randn( + gt_target_latent.shape, + device=device, + generator=rand_num_generator, + ) # [B, 4*n_targets, h, w] + + # Add noise to the latents (diffusion forward process) + noisy_latents = self.training_noise_scheduler.add_noise( + gt_target_latent, noise, timesteps + ) # [B, 4*n_targets, h, w] + + # Text embedding + text_embed = self.empty_text_embed.to(device).repeat( + (batch_size, 1, 1) + ) # [B, 77, 1024] + + # Concat rgb and target latents + cat_latents = torch.cat( + [rgb_latent, noisy_latents], dim=1 + ) # [B, 4*n_targets + 4, h, w] + cat_latents = cat_latents.float() + + # Predict the noise residual + model_pred = self.model.unet( + cat_latents, timesteps, text_embed + ).sample # [B, 4*n_targets, h, w] + if torch.isnan(model_pred).any(): + logging.warning("model_pred contains NaN.") + + # Get the target for loss depending on the prediction type + if "sample" == self.prediction_type: + target = gt_target_latent + elif "epsilon" == self.prediction_type: + target = noise + elif "v_prediction" == self.prediction_type: + target = self.training_noise_scheduler.get_velocity( + gt_target_latent, noise, timesteps + ) + else: + raise ValueError(f"Unknown prediction type {self.prediction_type}") + + # Masked latent loss + if self.gt_mask_type is not None: + latent_loss = self.loss( + model_pred[valid_mask_down].float(), + target[valid_mask_down].float(), + ) + else: + latent_loss = self.loss(model_pred.float(), target.float()) + + loss = latent_loss.mean() + + self.train_metrics.update("loss", loss.item()) + + loss = loss / self.gradient_accumulation_steps + loss.backward() + accumulated_step += 1 + + self.n_batch_in_epoch += 1 + # Practical batch end + + # Perform optimization step + if accumulated_step >= self.gradient_accumulation_steps: + self.optimizer.step() + self.lr_scheduler.step() + self.optimizer.zero_grad() + accumulated_step = 0 + + self.effective_iter += 1 + + # Log to tensorboard + accumulated_loss = self.train_metrics.result()["loss"] + tb_logger.log_dict( + { + f"train/{k}": v + for k, v in self.train_metrics.result().items() + }, + global_step=self.effective_iter, + ) + tb_logger.writer.add_scalar( + "lr", + self.lr_scheduler.get_last_lr()[0], + global_step=self.effective_iter, + ) + tb_logger.writer.add_scalar( + "n_batch_in_epoch", + self.n_batch_in_epoch, + global_step=self.effective_iter, + ) + logging.info( + f"iter {self.effective_iter:5d} (epoch {epoch:2d}): loss={accumulated_loss:.5f}" + ) + self.train_metrics.reset() + + # Per-step callback + self._train_step_callback() + + # End of training + if self.max_iter > 0 and self.effective_iter >= self.max_iter: + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), + save_train_state=False, + ) + logging.info("Training ended.") + return + # Time's up + elif t_end is not None and datetime.now() >= t_end: + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + logging.info("Time is up, training paused.") + return + + torch.cuda.empty_cache() + # <<< Effective batch end <<< + + # Epoch end + self.n_batch_in_epoch = 0 + + def encode_rgb(self, image_in): + assert len(image_in.shape) == 4 and image_in.shape[1] == 3 + latent = self.model.encode_rgb(image_in) + return latent + + def _train_step_callback(self): + """Executed after every iteration""" + # Save backup (with a larger interval, without training states) + if self.backup_period > 0 and 0 == self.effective_iter % self.backup_period: + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), save_train_state=False + ) + + _is_latest_saved = False + # Validation + if self.val_period > 0 and 0 == self.effective_iter % self.val_period: + self.in_evaluation = True # flag to do evaluation in resume run if validation is not finished + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + _is_latest_saved = True + self.validate() + self.in_evaluation = False + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + + # Save training checkpoint (can be resumed) + if ( + self.save_period > 0 + and 0 == self.effective_iter % self.save_period + and not _is_latest_saved + ): + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + + # Visualization + if self.vis_period > 0 and 0 == self.effective_iter % self.vis_period: + self.visualize() + + def validate(self): + for i, val_loader in enumerate(self.val_loaders): + val_dataset_name = val_loader.dataset.disp_name + val_metric_dict = self.validate_single_dataset( + data_loader=val_loader, metric_tracker=self.val_metrics + ) + logging.info( + f"Iter {self.effective_iter}. Validation metrics on `{val_dataset_name}`: {val_metric_dict}" + ) + tb_logger.log_dict( + {f"val/{val_dataset_name}/{k}": v for k, v in val_metric_dict.items()}, + global_step=self.effective_iter, + ) + # save to file + eval_text = eval_dict_to_text( + val_metrics=val_metric_dict, + dataset_name=val_dataset_name, + sample_list_path=val_loader.dataset.filename_ls_path, + ) + _save_to = os.path.join( + self.out_dir_eval, + f"eval-{val_dataset_name}-iter{self.effective_iter:06d}.txt", + ) + with open(_save_to, "w+") as f: + f.write(eval_text) + + # Update main eval metric + if 0 == i: + main_eval_metric = val_metric_dict[self.main_val_metric] + if ( + "minimize" == self.main_val_metric_goal + and main_eval_metric < self.best_metric + or "maximize" == self.main_val_metric_goal + and main_eval_metric > self.best_metric + ): + self.best_metric = main_eval_metric + logging.info( + f"Best metric: {self.main_val_metric} = {self.best_metric} at iteration {self.effective_iter}" + ) + # Save a checkpoint + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), save_train_state=False + ) + + def visualize(self): + for val_loader in self.vis_loaders: + vis_dataset_name = val_loader.dataset.disp_name + vis_out_dir = os.path.join( + self.out_dir_vis, self._get_backup_ckpt_name(), vis_dataset_name + ) + os.makedirs(vis_out_dir, exist_ok=True) + _ = self.validate_single_dataset( + data_loader=val_loader, + metric_tracker=self.val_metrics, + save_to_dir=vis_out_dir, + ) + + @torch.no_grad() + def validate_single_dataset( + self, + data_loader: DataLoader, + metric_tracker: MetricTracker, + save_to_dir: str = None, + ): + self.model.to(self.device) + metric_tracker.reset() + + # Generate seed sequence for consistent evaluation + val_init_seed = self.cfg.validation.init_seed + val_seed_ls = generate_seed_sequence(val_init_seed, len(data_loader)) + + for i, batch in enumerate( + tqdm(data_loader, desc=f"evaluating on {data_loader.dataset.disp_name}"), + start=1, + ): + assert 1 == data_loader.batch_size + # Read input image + img_int = img_float2int(batch["rgb"]) # [3, H, W] in [0, 255], sRGB space + # GT targets + for target_name in self.model.target_names: + batch[target_name] = batch[target_name].squeeze().to(self.device) + + # Random number generator + seed = val_seed_ls.pop() + if seed is None: + generator = None + else: + generator = torch.Generator(device=self.device) + generator.manual_seed(seed) + + # Predict materials + pipe_out: MarigoldIIDOutput = self.model( + img_int, + denoising_steps=self.cfg.validation.denoising_steps, + ensemble_size=self.cfg.validation.ensemble_size, + processing_res=self.cfg.validation.processing_res, + match_input_res=self.cfg.validation.match_input_res, + generator=generator, + batch_size=1, # use batch size 1 to increase reproducibility + show_progress_bar=False, + resample_method=self.cfg.validation.resample_method, + ) + + for target_name in self.model.target_names: + target_pred = pipe_out[target_name].array + target_pred_ts = ( + torch.from_numpy(target_pred).to(self.device).unsqueeze(0) + ) + target_gt = batch[target_name].to(self.device) + if self.cfg.validation.use_mask: + _mask_name = "mask_" + target_name + valid_mask = batch[_mask_name].to(self.device) + else: + valid_mask = None + if target_name in self.targets_to_eval_in_linear_space: + target_pred_ts = img_srgb2linear(target_pred_ts) + # Hypersim GT and IID Lighting model predictions are in linear space + # We evaluate albedo in sRGB space + if len(self.model.target_names) == 3 and target_name == "albedo": + # linear --> sRGB + target_gt = img_linear2srgb(target_gt) + target_pred_ts = img_linear2srgb(target_pred_ts) + + # eval pnsr + _metric_name = self.cfg.validation.main_val_metric + _metric_target = compute_iid_metric( + target_pred_ts, + target_gt, + target_name, + "psnr", + self._val_metric, + valid_mask=valid_mask, + ) + metric_tracker.update(f"{target_name}_{_metric_name}", _metric_target) + + # Save target as image + if save_to_dir is not None: + img_name = batch["rgb_relative_path"][0].replace("/", "_") + img_name_without_ext = os.path.splitext(img_name)[0] + + # Save target + target_save_path = os.path.join( + save_to_dir, f"{img_name_without_ext}_{target_name}.png" + ) + target_img = pipe_out[target_name].image + target_img.save(target_save_path) + + return metric_tracker.result() + + def _get_next_seed(self): + if 0 == len(self.global_seed_sequence): + self.global_seed_sequence = generate_seed_sequence( + initial_seed=self.seed, + length=self.max_iter * self.gradient_accumulation_steps, + ) + logging.info( + f"Global seed sequence is generated, length={len(self.global_seed_sequence)}" + ) + return self.global_seed_sequence.pop() + + def save_checkpoint(self, ckpt_name, save_train_state): + ckpt_dir = os.path.join(self.out_dir_ckpt, ckpt_name) + logging.info(f"Saving checkpoint to: {ckpt_dir}") + # Backup previous checkpoint + temp_ckpt_dir = None + if os.path.exists(ckpt_dir) and os.path.isdir(ckpt_dir): + temp_ckpt_dir = os.path.join( + os.path.dirname(ckpt_dir), f"_old_{os.path.basename(ckpt_dir)}" + ) + if os.path.exists(temp_ckpt_dir): + shutil.rmtree(temp_ckpt_dir, ignore_errors=True) + os.rename(ckpt_dir, temp_ckpt_dir) + logging.debug(f"Old checkpoint is backed up at: {temp_ckpt_dir}") + + # Save UNet + unet_path = os.path.join(ckpt_dir, "unet") + self.model.unet.save_pretrained(unet_path, safe_serialization=True) + logging.info(f"UNet is saved to: {unet_path}") + + # Save scheduler + scheduelr_path = os.path.join(ckpt_dir, "scheduler") + self.model.scheduler.save_pretrained(scheduelr_path) + logging.info(f"Scheduler is saved to: {scheduelr_path}") + + if save_train_state: + state = { + "optimizer": self.optimizer.state_dict(), + "lr_scheduler": self.lr_scheduler.state_dict(), + "config": self.cfg, + "effective_iter": self.effective_iter, + "epoch": self.epoch, + "n_batch_in_epoch": self.n_batch_in_epoch, + "best_metric": self.best_metric, + "in_evaluation": self.in_evaluation, + "global_seed_sequence": self.global_seed_sequence, + } + train_state_path = os.path.join(ckpt_dir, "trainer.ckpt") + torch.save(state, train_state_path) + # iteration indicator + f = open(os.path.join(ckpt_dir, self._get_backup_ckpt_name()), "w") + f.close() + + logging.info(f"Trainer state is saved to: {train_state_path}") + + # Remove temp ckpt + if temp_ckpt_dir is not None and os.path.exists(temp_ckpt_dir): + shutil.rmtree(temp_ckpt_dir, ignore_errors=True) + logging.debug("Old checkpoint backup is removed.") + + def load_checkpoint( + self, ckpt_path, load_trainer_state=True, resume_lr_scheduler=True + ): + logging.info(f"Loading checkpoint from: {ckpt_path}") + # Load UNet + _model_path = os.path.join(ckpt_path, "unet", "diffusion_pytorch_model.bin") + self.model.unet.load_state_dict( + torch.load(_model_path, map_location=self.device) + ) + self.model.unet.to(self.device) + logging.info(f"UNet parameters are loaded from {_model_path}") + + # Load training states + if load_trainer_state: + checkpoint = torch.load(os.path.join(ckpt_path, "trainer.ckpt")) + self.effective_iter = checkpoint["effective_iter"] + self.epoch = checkpoint["epoch"] + self.n_batch_in_epoch = checkpoint["n_batch_in_epoch"] + self.in_evaluation = checkpoint["in_evaluation"] + self.global_seed_sequence = checkpoint["global_seed_sequence"] + + self.best_metric = checkpoint["best_metric"] + + self.optimizer.load_state_dict(checkpoint["optimizer"]) + logging.info(f"optimizer state is loaded from {ckpt_path}") + + if resume_lr_scheduler: + self.lr_scheduler.load_state_dict(checkpoint["lr_scheduler"]) + logging.info(f"LR scheduler state is loaded from {ckpt_path}") + + logging.info( + f"Checkpoint loaded from: {ckpt_path}. Resume from iteration {self.effective_iter} (epoch {self.epoch})" + ) + return + + def _get_backup_ckpt_name(self): + return f"iter_{self.effective_iter:06d}" diff --git a/src/trainer/marigold_normals_trainer.py b/src/trainer/marigold_normals_trainer.py new file mode 100644 index 0000000..fae2aa8 --- /dev/null +++ b/src/trainer/marigold_normals_trainer.py @@ -0,0 +1,666 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import logging +import numpy as np +import os +import shutil +import torch +from PIL import Image +from datetime import datetime +from diffusers import DDPMScheduler, DDIMScheduler +from omegaconf import OmegaConf +from torch.nn import Conv2d +from torch.nn.parameter import Parameter +from torch.optim import Adam +from torch.optim.lr_scheduler import LambdaLR +from torch.utils.data import DataLoader +from tqdm import tqdm +from typing import List, Union + +from marigold.marigold_normals_pipeline import ( + MarigoldNormalsPipeline, + MarigoldNormalsOutput, +) +from src.util.image_util import img_chw2hwc +from src.util import metric +from src.util.data_loader import skip_first_batches +from src.util.logging_util import tb_logger, eval_dict_to_text +from src.util.loss import get_loss +from src.util.lr_scheduler import IterExponential +from src.util.metric import MetricTracker, compute_cosine_error +from src.util.multi_res_noise import multi_res_noise_like +from src.util.seeding import generate_seed_sequence + + +class MarigoldNormalsTrainer: + def __init__( + self, + cfg: OmegaConf, + model: MarigoldNormalsPipeline, + train_dataloader: DataLoader, + device, + out_dir_ckpt, + out_dir_eval, + out_dir_vis, + accumulation_steps: int, + val_dataloaders: List[DataLoader] = None, + vis_dataloaders: List[DataLoader] = None, + ): + self.cfg: OmegaConf = cfg + self.model: MarigoldNormalsPipeline = model + self.device = device + self.seed: Union[int, None] = ( + self.cfg.trainer.init_seed + ) # used to generate seed sequence, set to `None` to train w/o seeding + self.out_dir_ckpt = out_dir_ckpt + self.out_dir_eval = out_dir_eval + self.out_dir_vis = out_dir_vis + self.train_loader: DataLoader = train_dataloader + self.val_loaders: List[DataLoader] = val_dataloaders + self.vis_loaders: List[DataLoader] = vis_dataloaders + self.accumulation_steps: int = accumulation_steps + + # Adapt input layers + if 8 != self.model.unet.config["in_channels"]: + self._replace_unet_conv_in() + + # Encode empty text prompt + self.model.encode_empty_text() + self.empty_text_embed = self.model.empty_text_embed.detach().clone().to(device) + + self.model.unet.enable_xformers_memory_efficient_attention() + + # Trainability + self.model.vae.requires_grad_(False) + self.model.text_encoder.requires_grad_(False) + self.model.unet.requires_grad_(True) + + # Optimizer !should be defined after input layer is adapted + lr = self.cfg.lr + self.optimizer = Adam(self.model.unet.parameters(), lr=lr) + + # LR scheduler + lr_func = IterExponential( + total_iter_length=self.cfg.lr_scheduler.kwargs.total_iter, + final_ratio=self.cfg.lr_scheduler.kwargs.final_ratio, + warmup_steps=self.cfg.lr_scheduler.kwargs.warmup_steps, + ) + self.lr_scheduler = LambdaLR(optimizer=self.optimizer, lr_lambda=lr_func) + + # Loss + self.loss = get_loss(loss_name=self.cfg.loss.name, **self.cfg.loss.kwargs) + + # Training noise scheduler + self.training_noise_scheduler: DDPMScheduler = DDPMScheduler.from_config( + self.model.scheduler.config, + rescale_betas_zero_snr=True, + timestep_spacing="trailing", + ) + + logging.info( + "DDPM training noise scheduler config is updated: " + f"rescale_betas_zero_snr = {self.training_noise_scheduler.config.rescale_betas_zero_snr}, " + f"timestep_spacing = {self.training_noise_scheduler.config.timestep_spacing}" + ) + + self.prediction_type = self.training_noise_scheduler.config.prediction_type + assert self.prediction_type == self.model.scheduler.config.prediction_type, ( + "Different prediction types" + ) + self.scheduler_timesteps = ( + self.training_noise_scheduler.config.num_train_timesteps + ) + + # Inference DDIM scheduler (used for validation) + self.model.scheduler = DDIMScheduler.from_config( + self.training_noise_scheduler.config, + ) + + # Eval metrics + self.metric_funcs = [getattr(metric, _met) for _met in cfg.eval.eval_metrics] + + self.train_metrics = MetricTracker(*["loss"]) + self.val_metrics = MetricTracker(*[m.__name__ for m in self.metric_funcs]) + + # main metric for best checkpoint saving + self.main_val_metric = cfg.validation.main_val_metric + self.main_val_metric_goal = cfg.validation.main_val_metric_goal + + assert self.main_val_metric in cfg.eval.eval_metrics, ( + f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." + ) + + self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 + + # Settings + self.max_epoch = self.cfg.max_epoch + self.max_iter = self.cfg.max_iter + self.gradient_accumulation_steps = accumulation_steps + self.gt_normals_type = self.cfg.gt_normals_type + self.gt_mask_type = self.cfg.gt_mask_type + self.save_period = self.cfg.trainer.save_period + self.backup_period = self.cfg.trainer.backup_period + self.val_period = self.cfg.trainer.validation_period + self.vis_period = self.cfg.trainer.visualization_period + + # Multi-resolution noise + self.apply_multi_res_noise = self.cfg.multi_res_noise is not None + if self.apply_multi_res_noise: + self.mr_noise_strength = self.cfg.multi_res_noise.strength + self.annealed_mr_noise = self.cfg.multi_res_noise.annealed + self.mr_noise_downscale_strategy = ( + self.cfg.multi_res_noise.downscale_strategy + ) + + # Internal variables + self.epoch = 1 + self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training + self.effective_iter = 0 # how many times optimizer.step() is called + self.in_evaluation = False + self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + + def _replace_unet_conv_in(self): + # replace the first layer to accept 8 in_channels + _weight = self.model.unet.conv_in.weight.clone() # [320, 4, 3, 3] + _bias = self.model.unet.conv_in.bias.clone() # [320] + _weight = _weight.repeat((1, 2, 1, 1)) # Keep selected channel(s) + # half the activation magnitude + _weight *= 0.5 + # new conv_in channel + _n_convin_out_channel = self.model.unet.conv_in.out_channels + _new_conv_in = Conv2d( + 8, _n_convin_out_channel, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1) + ) + _new_conv_in.weight = Parameter(_weight) + _new_conv_in.bias = Parameter(_bias) + self.model.unet.conv_in = _new_conv_in + logging.info("Unet conv_in layer is replaced") + # replace config + self.model.unet.config["in_channels"] = 8 + logging.info("Unet config is updated") + return + + def train(self, t_end=None): + logging.info("Start training") + + device = self.device + self.model.to(device) + + if self.in_evaluation: + logging.info( + "Last evaluation was not finished, will do evaluation before continue training." + ) + self.validate() + + self.train_metrics.reset() + accumulated_step = 0 + + for epoch in range(self.epoch, self.max_epoch + 1): + self.epoch = epoch + logging.debug(f"epoch: {self.epoch}") + + # Skip previous batches when resume + for batch in skip_first_batches(self.train_loader, self.n_batch_in_epoch): + self.model.unet.train() + + # globally consistent random generators + if self.seed is not None: + local_seed = self._get_next_seed() + rand_num_generator = torch.Generator(device=device) + rand_num_generator.manual_seed(local_seed) + else: + rand_num_generator = None + + # >>> With gradient accumulation >>> + + # Get data + rgb = batch["rgb_norm"].to(device) + normals_gt_for_latent = batch[self.gt_normals_type].to(device) + + if self.gt_mask_type is not None: + valid_mask_for_latent = batch[self.gt_mask_type].to(device) + invalid_mask = ~valid_mask_for_latent + valid_mask_down = ~torch.max_pool2d( + invalid_mask.float(), 8, 8 + ).bool() + valid_mask_down = valid_mask_down.repeat((1, 4, 1, 1)) + + batch_size = rgb.shape[0] + + with torch.no_grad(): + # Encode image + rgb_latent = self.encode_rgb(rgb) # [B, 4, h, w] + # Encode GT normals + gt_target_latent = self.encode_rgb( + normals_gt_for_latent + ) # [B, 4, h, w] + + # Sample a random timestep for each image + timesteps = torch.randint( + 0, + self.scheduler_timesteps, + (batch_size,), + device=device, + generator=rand_num_generator, + ).long() # [B] + + # Sample noise + if self.apply_multi_res_noise: + strength = self.mr_noise_strength + if self.annealed_mr_noise: + # calculate strength depending on t + strength = strength * (timesteps / self.scheduler_timesteps) + noise = multi_res_noise_like( + gt_target_latent, + strength=strength, + downscale_strategy=self.mr_noise_downscale_strategy, + generator=rand_num_generator, + device=device, + ) + else: + noise = torch.randn( + gt_target_latent.shape, + device=device, + generator=rand_num_generator, + ) # [B, 4, h, w] + + # Add noise to the latents (diffusion forward process) + noisy_latents = self.training_noise_scheduler.add_noise( + gt_target_latent, noise, timesteps + ) # [B, 4, h, w] + + # Text embedding + text_embed = self.empty_text_embed.to(device).repeat( + (batch_size, 1, 1) + ) # [B, 77, 1024] + + # Concat rgb and target latents + cat_latents = torch.cat( + [rgb_latent, noisy_latents], dim=1 + ) # [B, 8, h, w] + cat_latents = cat_latents.float() + + # Predict the noise residual + model_pred = self.model.unet( + cat_latents, timesteps, text_embed + ).sample # [B, 4, h, w] + if torch.isnan(model_pred).any(): + logging.warning("model_pred contains NaN.") + + # Get the target for loss depending on the prediction type + if "sample" == self.prediction_type: + target = gt_target_latent + elif "epsilon" == self.prediction_type: + target = noise + elif "v_prediction" == self.prediction_type: + target = self.training_noise_scheduler.get_velocity( + gt_target_latent, noise, timesteps + ) + else: + raise ValueError(f"Unknown prediction type {self.prediction_type}") + + # Masked latent loss + if self.gt_mask_type is not None: + latent_loss = self.loss( + model_pred[valid_mask_down].float(), + target[valid_mask_down].float(), + ) + else: + latent_loss = self.loss(model_pred.float(), target.float()) + + loss = latent_loss.mean() + + self.train_metrics.update("loss", loss.item()) + + loss = loss / self.gradient_accumulation_steps + loss.backward() + accumulated_step += 1 + + self.n_batch_in_epoch += 1 + # Practical batch end + + # Perform optimization step + if accumulated_step >= self.gradient_accumulation_steps: + self.optimizer.step() + self.lr_scheduler.step() + self.optimizer.zero_grad() + accumulated_step = 0 + + self.effective_iter += 1 + + # Log to tensorboard + accumulated_loss = self.train_metrics.result()["loss"] + tb_logger.log_dict( + { + f"train/{k}": v + for k, v in self.train_metrics.result().items() + }, + global_step=self.effective_iter, + ) + tb_logger.writer.add_scalar( + "lr", + self.lr_scheduler.get_last_lr()[0], + global_step=self.effective_iter, + ) + tb_logger.writer.add_scalar( + "n_batch_in_epoch", + self.n_batch_in_epoch, + global_step=self.effective_iter, + ) + logging.info( + f"iter {self.effective_iter:5d} (epoch {epoch:2d}): loss={accumulated_loss:.5f}" + ) + self.train_metrics.reset() + + # Per-step callback + self._train_step_callback() + + # End of training + if self.max_iter > 0 and self.effective_iter >= self.max_iter: + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), + save_train_state=False, + ) + logging.info("Training ended.") + return + # Time's up + elif t_end is not None and datetime.now() >= t_end: + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + logging.info("Time is up, training paused.") + return + + torch.cuda.empty_cache() + # <<< Effective batch end <<< + + # Epoch end + self.n_batch_in_epoch = 0 + + def encode_rgb(self, image_in): + assert len(image_in.shape) == 4 and image_in.shape[1] == 3 + latent = self.model.encode_rgb(image_in) + return latent + + def _train_step_callback(self): + """Executed after every iteration""" + # Save backup (with a larger interval, without training states) + if self.backup_period > 0 and 0 == self.effective_iter % self.backup_period: + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), save_train_state=False + ) + + _is_latest_saved = False + # Validation + if self.val_period > 0 and 0 == self.effective_iter % self.val_period: + self.in_evaluation = True # flag to do evaluation in resume run if validation is not finished + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + _is_latest_saved = True + self.validate() + self.in_evaluation = False + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + + # Save training checkpoint (can be resumed) + if ( + self.save_period > 0 + and 0 == self.effective_iter % self.save_period + and not _is_latest_saved + ): + self.save_checkpoint(ckpt_name="latest", save_train_state=True) + + # Visualization + if self.vis_period > 0 and 0 == self.effective_iter % self.vis_period: + self.visualize() + + def validate(self): + for i, val_loader in enumerate(self.val_loaders): + val_dataset_name = val_loader.dataset.disp_name + val_metric_dict = self.validate_single_dataset( + data_loader=val_loader, metric_tracker=self.val_metrics + ) + logging.info( + f"Iter {self.effective_iter}. Validation metrics on `{val_dataset_name}`: {val_metric_dict}" + ) + tb_logger.log_dict( + {f"val/{val_dataset_name}/{k}": v for k, v in val_metric_dict.items()}, + global_step=self.effective_iter, + ) + # save to file + eval_text = eval_dict_to_text( + val_metrics=val_metric_dict, + dataset_name=val_dataset_name, + sample_list_path=val_loader.dataset.filename_ls_path, + ) + _save_to = os.path.join( + self.out_dir_eval, + f"eval-{val_dataset_name}-iter{self.effective_iter:06d}.txt", + ) + with open(_save_to, "w+") as f: + f.write(eval_text) + + # Update main eval metric + if 0 == i: + main_eval_metric = val_metric_dict[self.main_val_metric] + if ( + "minimize" == self.main_val_metric_goal + and main_eval_metric < self.best_metric + or "maximize" == self.main_val_metric_goal + and main_eval_metric > self.best_metric + ): + self.best_metric = main_eval_metric + logging.info( + f"Best metric: {self.main_val_metric} = {self.best_metric} at iteration {self.effective_iter}" + ) + # Save a checkpoint + self.save_checkpoint( + ckpt_name=self._get_backup_ckpt_name(), save_train_state=False + ) + + def visualize(self): + for val_loader in self.vis_loaders: + vis_dataset_name = val_loader.dataset.disp_name + vis_out_dir = os.path.join( + self.out_dir_vis, self._get_backup_ckpt_name(), vis_dataset_name + ) + os.makedirs(vis_out_dir, exist_ok=True) + _ = self.validate_single_dataset( + data_loader=val_loader, + metric_tracker=self.val_metrics, + save_to_dir=vis_out_dir, + ) + + @torch.no_grad() + def validate_single_dataset( + self, + data_loader: DataLoader, + metric_tracker: MetricTracker, + save_to_dir: str = None, + ): + self.model.to(self.device) + metric_tracker.reset() + + # Generate seed sequence for consistent evaluation + val_init_seed = self.cfg.validation.init_seed + val_seed_ls = generate_seed_sequence(val_init_seed, len(data_loader)) + + for i, batch in enumerate( + tqdm(data_loader, desc=f"evaluating on {data_loader.dataset.disp_name}"), + start=1, + ): + assert 1 == data_loader.batch_size + # Read input image + rgb_int = batch["rgb_int"] # [B, 3, H, W] + # GT normals + normals_gt = batch["normals"].to(self.device) # [B, 3, H, W] + + # Random number generator + seed = val_seed_ls.pop() + if seed is None: + generator = None + else: + generator = torch.Generator(device=self.device) + generator.manual_seed(seed) + + # Predict normals + pipe_out: MarigoldNormalsOutput = self.model( + rgb_int, + denoising_steps=self.cfg.validation.denoising_steps, + ensemble_size=self.cfg.validation.ensemble_size, + processing_res=self.cfg.validation.processing_res, + match_input_res=self.cfg.validation.match_input_res, + generator=generator, + batch_size=1, # use batch size 1 to increase reproducibility + show_progress_bar=False, + resample_method=self.cfg.validation.resample_method, + ) + + normals_pred = pipe_out.normals_np # [3, H, W] + + normals_pred_ts = ( + torch.from_numpy(normals_pred).unsqueeze(0).to(self.device) + ) + cosine_error = compute_cosine_error( + normals_pred_ts, normals_gt, masked=True + ) + sample_metric = [] + + for met_func in self.metric_funcs: + _metric_name = met_func.__name__ + _metric = met_func(cosine_error).item() + sample_metric.append(_metric.__str__()) + metric_tracker.update(_metric_name, _metric) + + # Save predicted normals as images + if save_to_dir is not None: + img_name = batch["rgb_relative_path"][0].replace("/", "_") + png_save_path = os.path.join(save_to_dir, img_name) + normals_to_save = img_chw2hwc(((normals_pred + 1) * 127.5)).astype( + np.uint8 + ) + Image.fromarray(normals_to_save).save(png_save_path) + + return metric_tracker.result() + + def _get_next_seed(self): + if 0 == len(self.global_seed_sequence): + self.global_seed_sequence = generate_seed_sequence( + initial_seed=self.seed, + length=self.max_iter * self.gradient_accumulation_steps, + ) + logging.info( + f"Global seed sequence is generated, length={len(self.global_seed_sequence)}" + ) + return self.global_seed_sequence.pop() + + def save_checkpoint(self, ckpt_name, save_train_state): + ckpt_dir = os.path.join(self.out_dir_ckpt, ckpt_name) + logging.info(f"Saving checkpoint to: {ckpt_dir}") + # Backup previous checkpoint + temp_ckpt_dir = None + if os.path.exists(ckpt_dir) and os.path.isdir(ckpt_dir): + temp_ckpt_dir = os.path.join( + os.path.dirname(ckpt_dir), f"_old_{os.path.basename(ckpt_dir)}" + ) + if os.path.exists(temp_ckpt_dir): + shutil.rmtree(temp_ckpt_dir, ignore_errors=True) + os.rename(ckpt_dir, temp_ckpt_dir) + logging.debug(f"Old checkpoint is backed up at: {temp_ckpt_dir}") + + # Save UNet + unet_path = os.path.join(ckpt_dir, "unet") + self.model.unet.save_pretrained(unet_path, safe_serialization=True) + logging.info(f"UNet is saved to: {unet_path}") + + # Save scheduler + scheduelr_path = os.path.join(ckpt_dir, "scheduler") + self.model.scheduler.save_pretrained(scheduelr_path) + logging.info(f"Scheduler is saved to: {scheduelr_path}") + + if save_train_state: + state = { + "optimizer": self.optimizer.state_dict(), + "lr_scheduler": self.lr_scheduler.state_dict(), + "config": self.cfg, + "effective_iter": self.effective_iter, + "epoch": self.epoch, + "n_batch_in_epoch": self.n_batch_in_epoch, + "best_metric": self.best_metric, + "in_evaluation": self.in_evaluation, + "global_seed_sequence": self.global_seed_sequence, + } + train_state_path = os.path.join(ckpt_dir, "trainer.ckpt") + torch.save(state, train_state_path) + # iteration indicator + f = open(os.path.join(ckpt_dir, self._get_backup_ckpt_name()), "w") + f.close() + + logging.info(f"Trainer state is saved to: {train_state_path}") + + # Remove temp ckpt + if temp_ckpt_dir is not None and os.path.exists(temp_ckpt_dir): + shutil.rmtree(temp_ckpt_dir, ignore_errors=True) + logging.debug("Old checkpoint backup is removed.") + + def load_checkpoint( + self, ckpt_path, load_trainer_state=True, resume_lr_scheduler=True + ): + logging.info(f"Loading checkpoint from: {ckpt_path}") + # Load UNet + _model_path = os.path.join(ckpt_path, "unet", "diffusion_pytorch_model.bin") + self.model.unet.load_state_dict( + torch.load(_model_path, map_location=self.device) + ) + self.model.unet.to(self.device) + logging.info(f"UNet parameters are loaded from {_model_path}") + + # Load training states + if load_trainer_state: + checkpoint = torch.load(os.path.join(ckpt_path, "trainer.ckpt")) + self.effective_iter = checkpoint["effective_iter"] + self.epoch = checkpoint["epoch"] + self.n_batch_in_epoch = checkpoint["n_batch_in_epoch"] + self.in_evaluation = checkpoint["in_evaluation"] + self.global_seed_sequence = checkpoint["global_seed_sequence"] + + self.best_metric = checkpoint["best_metric"] + + self.optimizer.load_state_dict(checkpoint["optimizer"]) + logging.info(f"optimizer state is loaded from {ckpt_path}") + + if resume_lr_scheduler: + self.lr_scheduler.load_state_dict(checkpoint["lr_scheduler"]) + logging.info(f"LR scheduler state is loaded from {ckpt_path}") + + logging.info( + f"Checkpoint loaded from: {ckpt_path}. Resume from iteration {self.effective_iter} (epoch {self.epoch})" + ) + return + + def _get_backup_ckpt_name(self): + return f"iter_{self.effective_iter:06d}" diff --git a/src/util/alignment.py b/src/util/alignment.py index df91f6b..a08745a 100644 --- a/src/util/alignment.py +++ b/src/util/alignment.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-01-11 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import numpy as np import torch @@ -31,9 +58,9 @@ def align_depth_least_square( .numpy() ) - assert ( - gt.shape == pred.shape == valid_mask.shape - ), f"{gt.shape}, {pred.shape}, {valid_mask.shape}" + assert gt.shape == pred.shape == valid_mask.shape, ( + f"{gt.shape}, {pred.shape}, {valid_mask.shape}" + ) gt_masked = gt[valid_mask].reshape((-1, 1)) pred_masked = pred[valid_mask].reshape((-1, 1)) @@ -55,7 +82,6 @@ def align_depth_least_square( return aligned_pred -# ******************** disparity space ******************** def depth2disparity(depth, return_mask=False): if isinstance(depth, torch.Tensor): disparity = torch.zeros_like(depth) diff --git a/src/util/config_util.py b/src/util/config_util.py index 0e9fa45..51b41b6 100644 --- a/src/util/config_util.py +++ b/src/util/config_util.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-14 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import omegaconf from omegaconf import OmegaConf @@ -15,9 +42,9 @@ def recursive_load_config(config_path: str) -> OmegaConf: if base_configs is not None: assert isinstance(base_configs, omegaconf.listconfig.ListConfig) for _path in base_configs: - assert ( - _path != config_path - ), "Circulate merging, base_config should not include itself." + assert _path != config_path, ( + "Circulate merging, base_config should not include itself." + ) _base_conf = recursive_load_config(_path) output_conf = OmegaConf.merge(output_conf, _base_conf) diff --git a/src/util/data_loader.py b/src/util/data_loader.py index 0fe42ab..226631f 100644 --- a/src/util/data_loader.py +++ b/src/util/data_loader.py @@ -1,4 +1,34 @@ -# Copied from https://github.com/huggingface/accelerate/blob/e2ae254008061b3e53fc1c97f88d65743a857e75/src/accelerate/data_loader.py +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +# Adapted from https://github.com/huggingface/accelerate/blob/e2ae254008061b3e53fc1c97f88d65743a857e75/src/accelerate/data_loader.py from torch.utils.data import BatchSampler, DataLoader, IterableDataset @@ -66,7 +96,6 @@ def __iter__(self): yield batch -# Adapted from https://github.com/huggingface/accelerate def skip_first_batches(dataloader, num_batches=0): """ Creates a `torch.utils.data.DataLoader` that will efficiently skip the first `num_batches`. diff --git a/src/util/depth_transform.py b/src/util/depth_transform.py index ac9d626..4c12308 100644 --- a/src/util/depth_transform.py +++ b/src/util/depth_transform.py @@ -1,8 +1,35 @@ -# Author: Bingxin Ke -# Last modified: 2024-04-18 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- -import torch import logging +import torch def get_depth_normalizer(cfg_normalizer): diff --git a/src/util/image_util.py b/src/util/image_util.py new file mode 100644 index 0000000..3c450e2 --- /dev/null +++ b/src/util/image_util.py @@ -0,0 +1,128 @@ +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import cv2 +import numpy as np +import tarfile +import torch +from PIL import Image +from io import BytesIO +from typing import Union + + +def img_hwc2chw(img: Union[np.ndarray, torch.Tensor]): + assert len(img.shape) == 3 + if isinstance(img, np.ndarray): + return np.transpose(img, (2, 0, 1)) + if isinstance(img, torch.Tensor): + return img.permute(2, 0, 1) + raise TypeError("img should be np.ndarray or torch.Tensor") + + +def img_chw2hwc(chw): + assert 3 == len(chw.shape) + if isinstance(chw, torch.Tensor): + hwc = torch.permute(chw, (1, 2, 0)) + elif isinstance(chw, np.ndarray): + hwc = np.moveaxis(chw, 0, -1) + else: + raise TypeError("img should be np.ndarray or torch.Tensor") + return hwc + + +def img_int2float(img, dtype=None): + if dtype is not None: + if isinstance(img, np.ndarray): + img = img.astype(dtype) + else: + img = img.to(dtype) + return img / 255.0 + + +def img_float2int(img): + if isinstance(img, np.ndarray): + return (img * 255.0).astype(np.uint8) + else: + return (img * 255.0).to(torch.uint8) + + +def img_normalize(img): + return img * 2.0 - 1.0 + + +def img_denormalize(img): + return img * 0.5 + 0.5 + + +def img_linear2srgb(img): + return img ** (1 / 2.2) + + +def img_srgb2linear(img): + return img**2.2 + + +def write_img(img: np.ndarray, path): + img = img_float2int(img) + if len(img.shape) == 3: + img = img[:, :, ::-1] # RGB->BGR + cv2.imwrite(path, img) + + +def _read_image_from_buffer(buffer: BytesIO, is_hdr: bool) -> np.ndarray: + if is_hdr: + file_bytes = np.frombuffer(buffer.read(), dtype=np.uint8) + img = cv2.imdecode(file_bytes, cv2.IMREAD_UNCHANGED) + img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) + img = np.clip(img, 0, 1) + else: + img = Image.open(buffer) # [H, W, rgb] + img = np.asarray(img) + img = img_int2float(img) + + return img + + +def is_hdr(path: str): + return path.endswith(".exr") + + +def read_img_from_tar(tar_file: tarfile.TarFile, rel_path: str) -> np.ndarray: + tar_obj = tar_file.extractfile(rel_path) + buffer = BytesIO(tar_obj.read()) + img = _read_image_from_buffer(buffer, is_hdr(rel_path)) + return img + + +def read_img_from_file(path: str) -> np.ndarray: + with open(path, "rb") as f: + buffer = BytesIO(f.read()) + img = _read_image_from_buffer(buffer, is_hdr(path)) + return img diff --git a/src/util/logging_util.py b/src/util/logging_util.py index 37dd103..31c553c 100644 --- a/src/util/logging_util.py +++ b/src/util/logging_util.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-03-12 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import logging import os @@ -54,8 +81,8 @@ def set_dir(self, tb_log_dir): self.writer = SummaryWriter(tb_log_dir) self.is_initialized = True - def log_dic(self, scalar_dic, global_step, walltime=None): - for k, v in scalar_dic.items(): + def log_dict(self, scalar_dict, global_step, walltime=None): + for k, v in scalar_dict.items(): self.writer.add_scalar(k, v, global_step=global_step, walltime=walltime) return @@ -93,7 +120,7 @@ def save_wandb_job_id(run, out_dir): f.write(run.id) -def eval_dic_to_text(val_metrics: dict, dataset_name: str, sample_list_path: str): +def eval_dict_to_text(val_metrics: dict, dataset_name: str, sample_list_path: str): eval_text = f"Evaluation metrics:\n\ on dataset: {dataset_name}\n\ over samples in: {sample_list_path}\n" diff --git a/src/util/loss.py b/src/util/loss.py index ee6dace..43c617a 100644 --- a/src/util/loss.py +++ b/src/util/loss.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-22 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import torch diff --git a/src/util/lr_scheduler.py b/src/util/lr_scheduler.py index cd2d67f..f54c8de 100644 --- a/src/util/lr_scheduler.py +++ b/src/util/lr_scheduler.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-22 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import numpy as np @@ -36,9 +63,9 @@ def __call__(self, n_iter) -> float: lr_scheduler = IterExponential( total_iter_length=50000, final_ratio=0.01, warmup_steps=200 ) - lr_scheduler = IterExponential( - total_iter_length=50000, final_ratio=0.01, warmup_steps=0 - ) + # lr_scheduler = IterExponential( + # total_iter_length=50000, final_ratio=0.01, warmup_steps=0 + # ) x = np.arange(100000) alphas = [lr_scheduler(i) for i in x] diff --git a/src/util/metric.py b/src/util/metric.py index 4221ba7..a0d82eb 100644 --- a/src/util/metric.py +++ b/src/util/metric.py @@ -1,7 +1,34 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-15 - - +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +import numpy as np import pandas as pd import torch @@ -31,6 +58,9 @@ def result(self): return dict(self._data.average) +# -------------------- Depth Metrics -------------------- + + def abs_relative_difference(output, target, valid_mask=None): actual_output = output actual_target = target @@ -97,7 +127,7 @@ def log10(output, target, valid_mask=None): return diff.mean() -# adapt from: https://github.com/imran3180/depth-map-prediction/blob/master/main.py +# Adapted from: https://github.com/imran3180/depth-map-prediction/blob/master/main.py def threshold_percentage(output, target, threshold_val, valid_mask=None): d1 = output / target d2 = target / output @@ -156,3 +186,153 @@ def silog_rmse(depth_pred, depth_gt, valid_mask=None): second_term = torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2) loss = torch.sqrt(torch.mean(first_term - second_term)) * 100 return loss + + +# -------------------- Normals Metrics -------------------- + + +def compute_cosine_error(pred_norm, gt_norm, masked=False): + if len(pred_norm.shape) == 4: + pred_norm = pred_norm.squeeze(0) + if len(gt_norm.shape) == 4: + gt_norm = gt_norm.squeeze(0) + + # shape must be [3,H,W] + assert (gt_norm.shape[0] == 3) and (pred_norm.shape[0] == 3), ( + "Channel dim should be the first dimension!" + ) + # mask out the zero vectors, otherwise torch.cosine_similarity computes 90° as error + if masked: + ch, h, w = gt_norm.shape + + mask = torch.norm(gt_norm, dim=0) > 0 + + pred_norm = pred_norm[:, mask.view(h, w)] + gt_norm = gt_norm[:, mask.view(h, w)] + + pred_error = torch.cosine_similarity(pred_norm, gt_norm, dim=0) + pred_error = torch.clamp(pred_error, min=-1.0, max=1.0) + pred_error = torch.acos(pred_error) * 180.0 / np.pi # (H, W) + + return ( + pred_error.view(-1).detach().cpu().numpy() + ) # flatten so can directly input to compute_normal_metrics() + + +def mean_angular_error(cosine_error): + return round(np.average(cosine_error), 4) + + +def median_angular_error(cosine_error): + return round(np.median(cosine_error), 4) + + +def rmse_angular_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(np.sqrt(np.sum(cosine_error * cosine_error) / num_pixels), 4) + + +def sub5_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(100.0 * (np.sum(cosine_error < 5) / num_pixels), 4) + + +def sub7_5_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(100.0 * (np.sum(cosine_error < 7.5) / num_pixels), 4) + + +def sub11_25_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(100.0 * (np.sum(cosine_error < 11.25) / num_pixels), 4) + + +def sub22_5_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(100.0 * (np.sum(cosine_error < 22.5) / num_pixels), 4) + + +def sub30_error(cosine_error): + num_pixels = cosine_error.shape[0] + return round(100.0 * (np.sum(cosine_error < 30) / num_pixels), 4) + + +# -------------------- IID Metrics -------------------- + + +def compute_iid_metric(pred, gt, target_name, metric_name, metric, valid_mask=None): + # Shading and residual are up-to-scale. We first scale-align them to the gt + # and map them to the range [0,1] for metric computation + if target_name == "shading" or target_name == "residual": + alignment_scale = compute_alignment_scale(pred, gt, valid_mask) + pred = alignment_scale * pred + # map to [0,1] + pred, gt = quantile_map(pred, gt, valid_mask) + + if len(pred.shape) == 3: + pred = pred.unsqueeze(0) + if len(gt.shape) == 3: + gt = gt.unsqueeze(0) + if valid_mask is not None: + if len(valid_mask.shape) == 3: + valid_mask = valid_mask.unsqueeze(0) + if metric_name == "psnr": + return metric(pred[valid_mask], gt[valid_mask]).item() + # for SSIM and LPIPs set the invalid pixels to zero + else: + invalid_mask = ~valid_mask + pred[invalid_mask] = 0 + gt[invalid_mask] = 0 + + return metric(pred, gt).item() + + +# compute least-squares alignment scale to align shading/residual prediction to gt +def compute_alignment_scale(pred, gt, valid_mask=None): + pred = pred.squeeze() + gt = gt.squeeze() + assert pred.shape[0] == 3 and gt.shape[0] == 3, "First dim should be channel dim" + + if valid_mask is not None: + valid_mask = valid_mask.squeeze() + pred = pred[valid_mask] + gt = gt[valid_mask] + + A_flattened = pred.view(-1, 1) + b_flattened = gt.view(-1, 1) + # Solve the least squares problem + x, residuals, rank, s = torch.linalg.lstsq(A_flattened.float(), b_flattened.float()) + return x + + +def quantile_map(pred, gt, valid_mask=None): + pred = pred.squeeze() + gt = gt.squeeze() + assert gt.shape[0] == 3, "channel dim must be first dim" + + percentile = 90 + brightness_nth_percentile_desired = 0.8 + brightness = 0.3 * gt[0, :, :] + 0.59 * gt[1, :, :] + 0.11 * gt[2, :, :] + + if valid_mask is not None: + valid_mask = valid_mask.squeeze() + brightness = brightness[valid_mask[0]] + else: + brightness = brightness.flatten() + + eps = 0.0001 + + brightness_nth_percentile_current = torch.quantile(brightness, percentile / 100.0) + + if brightness_nth_percentile_current < eps: + scale = 0 + else: + scale = float( + brightness_nth_percentile_desired / brightness_nth_percentile_current + ) + + # Apply scaling to ground truth and prediction + gt_mapped = torch.clamp(scale * gt, 0, 1).unsqueeze(0) # [1,3,H,W] + pred_mapped = torch.clamp(scale * pred, 0, 1).unsqueeze(0) # [1,3,H,W] + + return pred_mapped, gt_mapped diff --git a/src/util/multi_res_noise.py b/src/util/multi_res_noise.py index e4d0ee0..a92d14c 100644 --- a/src/util/multi_res_noise.py +++ b/src/util/multi_res_noise.py @@ -1,11 +1,39 @@ -# Author: Bingxin Ke -# Last modified: 2024-04-18 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- + +# Adapted from: https://wandb.ai/johnowhitaker/multires_noise/reports/Multi-Resolution-Noise-for-Diffusion-Model-Training--VmlldzozNjYyOTU2?s=31 -import torch import math +import torch -# adapted from: https://wandb.ai/johnowhitaker/multires_noise/reports/Multi-Resolution-Noise-for-Diffusion-Model-Training--VmlldzozNjYyOTU2?s=31 def multi_res_noise_like( x, strength=0.9, downscale_strategy="original", generator=None, device=None ): diff --git a/src/util/seeding.py b/src/util/seeding.py index b63a778..f84c393 100644 --- a/src/util/seeding.py +++ b/src/util/seeding.py @@ -1,4 +1,4 @@ -# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved. +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. @@ -12,16 +12,26 @@ # See the License for the specific language governing permissions and # limitations under the License. # -------------------------------------------------------------------------- -# If you find this code useful, we kindly ask you to cite our paper in your work. -# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation -# More information about the method can be found at https://marigoldmonodepth.github.io +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. # -------------------------------------------------------------------------- - +import logging import numpy as np import random import torch -import logging def seed_all(seed: int = 0): diff --git a/src/util/slurm_util.py b/src/util/slurm_util.py index a983d86..77c0f47 100644 --- a/src/util/slurm_util.py +++ b/src/util/slurm_util.py @@ -1,5 +1,32 @@ -# Author: Bingxin Ke -# Last modified: 2024-02-22 +# Copyright 2023-2025 Marigold Team, ETH Zürich. 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. +# -------------------------------------------------------------------------- +# More information about Marigold: +# https://marigoldmonodepth.github.io +# https://marigoldcomputervision.github.io +# Efficient inference pipelines are now part of diffusers: +# https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage +# https://huggingface.co/docs/diffusers/api/pipelines/marigold +# Examples of trained models and live demos: +# https://huggingface.co/prs-eth +# Related projects: +# https://rollingdepth.github.io/ +# https://marigolddepthcompletion.github.io/ +# Citation (BibTeX): +# https://github.com/prs-eth/Marigold#-citation +# If you find Marigold useful, we kindly ask you to cite our papers. +# -------------------------------------------------------------------------- import os From e178a9e7f447a07d87d7a42548529ac3b567ad82 Mon Sep 17 00:00:00 2001 From: KevinQu7 Date: Sun, 23 Mar 2025 21:56:37 +0100 Subject: [PATCH 2/9] fix ruff imports --- src/dataset/hypersim_dataset.py | 2 +- src/trainer/marigold_iid_trainer.py | 5 ----- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/src/dataset/hypersim_dataset.py b/src/dataset/hypersim_dataset.py index 710fa04..b50106d 100644 --- a/src/dataset/hypersim_dataset.py +++ b/src/dataset/hypersim_dataset.py @@ -32,7 +32,7 @@ from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode from .base_normals_dataset import BaseNormalsDataset -from .base_iid_dataset import BaseIIDDataset, DatasetMode +from .base_iid_dataset import BaseIIDDataset class HypersimDepthDataset(BaseDepthDataset): diff --git a/src/trainer/marigold_iid_trainer.py b/src/trainer/marigold_iid_trainer.py index 3fb4c31..ffb4d69 100644 --- a/src/trainer/marigold_iid_trainer.py +++ b/src/trainer/marigold_iid_trainer.py @@ -34,7 +34,6 @@ import torch from datetime import datetime from diffusers import DDPMScheduler, DDIMScheduler -from itertools import product from omegaconf import OmegaConf from torchmetrics.image import PeakSignalNoiseRatio from torch.nn import Conv2d @@ -46,15 +45,12 @@ from typing import List, Union from marigold.marigold_iid_pipeline import MarigoldIIDPipeline, MarigoldIIDOutput -from src.util import metric from src.util.data_loader import skip_first_batches from src.util.image_util import ( img_normalize, - write_img, img_float2int, img_srgb2linear, img_linear2srgb, - img_chw2hwc, ) from src.util.logging_util import tb_logger, eval_dict_to_text from src.util.loss import get_loss @@ -63,7 +59,6 @@ from src.util.multi_res_noise import multi_res_noise_like from src.util.seeding import generate_seed_sequence from src.util.metric import compute_iid_metric -from marigold.util.image_util import linear2srgb class MarigoldIIDTrainer: From e19fe9d5605b1254a9e0a6b409ce5cab5045397f Mon Sep 17 00:00:00 2001 From: KevinQu7 Date: Sun, 23 Mar 2025 22:05:39 +0100 Subject: [PATCH 3/9] formatting --- marigold/marigold_depth_pipeline.py | 10 ++++++---- marigold/marigold_iid_pipeline.py | 10 ++++++---- marigold/marigold_normals_pipeline.py | 10 ++++++---- script/depth/train.py | 6 +++--- .../preprocess_hypersim_iid.py | 6 +++--- script/iid/train.py | 6 +++--- script/normals/train.py | 6 +++--- src/dataset/base_depth_dataset.py | 18 +++++++++--------- src/dataset/base_iid_dataset.py | 6 +++--- src/dataset/base_normals_dataset.py | 6 +++--- src/trainer/marigold_depth_trainer.py | 16 +++++++++------- src/trainer/marigold_iid_trainer.py | 16 +++++++++------- src/trainer/marigold_normals_trainer.py | 16 +++++++++------- src/util/alignment.py | 6 +++--- src/util/config_util.py | 6 +++--- src/util/metric.py | 6 +++--- 16 files changed, 81 insertions(+), 69 deletions(-) diff --git a/marigold/marigold_depth_pipeline.py b/marigold/marigold_depth_pipeline.py index 3dc4f48..468227e 100644 --- a/marigold/marigold_depth_pipeline.py +++ b/marigold/marigold_depth_pipeline.py @@ -236,9 +236,9 @@ def __call__( else: raise TypeError(f"Unknown input type: {type(input_image) = }") input_size = rgb.shape - assert 4 == rgb.dim() and 3 == input_size[-3], ( - f"Wrong input shape {input_size}, expected [1, rgb, H, W]" - ) + assert ( + 4 == rgb.dim() and 3 == input_size[-3] + ), f"Wrong input shape {input_size}, expected [1, rgb, H, W]" # Resize image if processing_res > 0: @@ -439,7 +439,9 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to(device) # [B, 2, 1024] + ).to( + device + ) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/marigold/marigold_iid_pipeline.py b/marigold/marigold_iid_pipeline.py index 4d69823..0bc7a1c 100644 --- a/marigold/marigold_iid_pipeline.py +++ b/marigold/marigold_iid_pipeline.py @@ -307,9 +307,9 @@ def __call__( else: raise TypeError(f"Unknown input type: {type(input_image) = }") input_size = rgb.shape - assert 4 == rgb.dim() and 3 == input_size[-3], ( - f"Wrong input shape {input_size}, expected [1, rgb, H, W]" - ) + assert ( + 4 == rgb.dim() and 3 == input_size[-3] + ), f"Wrong input shape {input_size}, expected [1, rgb, H, W]" # Resize image if processing_res > 0: @@ -509,7 +509,9 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to(device) # [B, 2, 1024] + ).to( + device + ) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/marigold/marigold_normals_pipeline.py b/marigold/marigold_normals_pipeline.py index 2d83494..91e5e06 100644 --- a/marigold/marigold_normals_pipeline.py +++ b/marigold/marigold_normals_pipeline.py @@ -214,9 +214,9 @@ def __call__( else: raise TypeError(f"Unknown input type: {type(input_image) = }") input_size = rgb.shape - assert 4 == rgb.dim() and 3 == input_size[-3], ( - f"Wrong input shape {input_size}, expected [1, rgb, H, W]" - ) + assert ( + 4 == rgb.dim() and 3 == input_size[-3] + ), f"Wrong input shape {input_size}, expected [1, rgb, H, W]" # Resize image if processing_res > 0: @@ -404,7 +404,9 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to(device) # [B, 2, 1024] + ).to( + device + ) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/script/depth/train.py b/script/depth/train.py index 1e08d00..b9915ab 100644 --- a/script/depth/train.py +++ b/script/depth/train.py @@ -282,9 +282,9 @@ logging.debug("Augmentation: ", cfg.augmentation) if "mixed" == cfg_data.train.name: dataset_ls = train_dataset - assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( - "Lengths don't match: `prob_ls` and `dataset_list`" - ) + assert len(cfg_data.train.prob_ls) == len( + dataset_ls + ), "Lengths don't match: `prob_ls` and `dataset_list`" concat_dataset = ConcatDataset(dataset_ls) mixed_sampler = MixedBatchSampler( src_dataset_ls=dataset_ls, diff --git a/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py b/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py index c0d9ff3..ab4e1c3 100644 --- a/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py +++ b/script/iid/dataset_preprocess/hypersim_lighting/preprocess_hypersim_iid.py @@ -59,9 +59,9 @@ def tone_map(img, scale): img_scaled = scale * img img_scaled_clipped = np.maximum(img_scaled, 0) mask_scaled_negative = img_scaled != img_scaled_clipped - assert np.count_nonzero(mask_scaled_negative) == 0, ( - f"{img_scaled[mask_scaled_negative]=}" - ) + assert ( + np.count_nonzero(mask_scaled_negative) == 0 + ), f"{img_scaled[mask_scaled_negative]=}" img = np.power(img_scaled_clipped, gamma) img = np.clip(img, 0, 1) return img diff --git a/script/iid/train.py b/script/iid/train.py index 79a7b58..ecca4f3 100644 --- a/script/iid/train.py +++ b/script/iid/train.py @@ -274,9 +274,9 @@ logging.debug("Augmentation: ", cfg.augmentation) if "mixed" == cfg_data.train.name: dataset_ls = train_dataset - assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( - "Lengths don't match: `prob_ls` and `dataset_list`" - ) + assert len(cfg_data.train.prob_ls) == len( + dataset_ls + ), "Lengths don't match: `prob_ls` and `dataset_list`" concat_dataset = ConcatDataset(dataset_ls) mixed_sampler = MixedBatchSampler( src_dataset_ls=dataset_ls, diff --git a/script/normals/train.py b/script/normals/train.py index 36258d6..30c6c3f 100644 --- a/script/normals/train.py +++ b/script/normals/train.py @@ -274,9 +274,9 @@ logging.debug("Augmentation: ", cfg.augmentation) if "mixed" == cfg_data.train.name: dataset_ls = train_dataset - assert len(cfg_data.train.prob_ls) == len(dataset_ls), ( - "Lengths don't match: `prob_ls` and `dataset_list`" - ) + assert len(cfg_data.train.prob_ls) == len( + dataset_ls + ), "Lengths don't match: `prob_ls` and `dataset_list`" concat_dataset = ConcatDataset(dataset_ls) mixed_sampler = MixedBatchSampler( src_dataset_ls=dataset_ls, diff --git a/src/dataset/base_depth_dataset.py b/src/dataset/base_depth_dataset.py index 1033d40..b1acaef 100644 --- a/src/dataset/base_depth_dataset.py +++ b/src/dataset/base_depth_dataset.py @@ -81,9 +81,9 @@ def __init__( # dataset info self.filename_ls_path = filename_ls_path self.dataset_dir = dataset_dir - assert os.path.exists(self.dataset_dir), ( - f"Dataset does not exist at: {self.dataset_dir}" - ) + assert os.path.exists( + self.dataset_dir + ), f"Dataset does not exist at: {self.dataset_dir}" self.disp_name = disp_name self.has_filled_depth = has_filled_depth self.name_mode: DepthFileNameMode = name_mode @@ -237,13 +237,13 @@ def _training_preprocess(self, rasters): # Set invalid pixel to far plane if self.move_invalid_to_far_plane: if self.depth_transform.far_plane_at_max: - rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( - self.depth_transform.norm_max - ) + rasters["depth_filled_norm"][ + ~rasters["valid_mask_filled"] + ] = self.depth_transform.norm_max else: - rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( - self.depth_transform.norm_min - ) + rasters["depth_filled_norm"][ + ~rasters["valid_mask_filled"] + ] = self.depth_transform.norm_min # Resize if self.resize_to_hw is not None: diff --git a/src/dataset/base_iid_dataset.py b/src/dataset/base_iid_dataset.py index 1138916..a7c302f 100644 --- a/src/dataset/base_iid_dataset.py +++ b/src/dataset/base_iid_dataset.py @@ -73,9 +73,9 @@ def __init__( # dataset info self.filename_ls_path = filename_ls_path self.dataset_dir = dataset_dir - assert os.path.exists(self.dataset_dir), ( - f"Dataset does not exist at: {self.dataset_dir}" - ) + assert os.path.exists( + self.dataset_dir + ), f"Dataset does not exist at: {self.dataset_dir}" self.disp_name = disp_name # training arguments diff --git a/src/dataset/base_normals_dataset.py b/src/dataset/base_normals_dataset.py index aac4a7b..6b5cc36 100644 --- a/src/dataset/base_normals_dataset.py +++ b/src/dataset/base_normals_dataset.py @@ -63,9 +63,9 @@ def __init__( # dataset info self.filename_ls_path = filename_ls_path self.dataset_dir = dataset_dir - assert os.path.exists(self.dataset_dir), ( - f"Dataset does not exist at: {self.dataset_dir}" - ) + assert os.path.exists( + self.dataset_dir + ), f"Dataset does not exist at: {self.dataset_dir}" self.disp_name = disp_name # training arguments diff --git a/src/trainer/marigold_depth_trainer.py b/src/trainer/marigold_depth_trainer.py index c15d6a4..74b6c39 100644 --- a/src/trainer/marigold_depth_trainer.py +++ b/src/trainer/marigold_depth_trainer.py @@ -129,9 +129,9 @@ def __init__( ) self.prediction_type = self.training_noise_scheduler.config.prediction_type - assert self.prediction_type == self.model.scheduler.config.prediction_type, ( - "Different prediction types" - ) + assert ( + self.prediction_type == self.model.scheduler.config.prediction_type + ), "Different prediction types" self.scheduler_timesteps = ( self.training_noise_scheduler.config.num_train_timesteps ) @@ -151,9 +151,9 @@ def __init__( self.main_val_metric = cfg.validation.main_val_metric self.main_val_metric_goal = cfg.validation.main_val_metric_goal - assert self.main_val_metric in cfg.eval.eval_metrics, ( - f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." - ) + assert ( + self.main_val_metric in cfg.eval.eval_metrics + ), f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 @@ -182,7 +182,9 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = ( + [] + ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in(self): # replace the first layer to accept 8 in_channels diff --git a/src/trainer/marigold_iid_trainer.py b/src/trainer/marigold_iid_trainer.py index ffb4d69..c8e72d3 100644 --- a/src/trainer/marigold_iid_trainer.py +++ b/src/trainer/marigold_iid_trainer.py @@ -137,9 +137,9 @@ def __init__( ) self.prediction_type = self.training_noise_scheduler.config.prediction_type - assert self.prediction_type == self.model.scheduler.config.prediction_type, ( - "Different prediction types" - ) + assert ( + self.prediction_type == self.model.scheduler.config.prediction_type + ), "Different prediction types" self.scheduler_timesteps = ( self.training_noise_scheduler.config.num_train_timesteps ) @@ -168,9 +168,9 @@ def __init__( self.main_val_metric_goal = cfg.validation.main_val_metric_goal - assert self.main_val_metric in val_metric_names, ( - f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." - ) + assert ( + self.main_val_metric in val_metric_names + ), f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 @@ -198,7 +198,9 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = ( + [] + ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in_out_multimodal(self): n_outputs = self.model.n_targets diff --git a/src/trainer/marigold_normals_trainer.py b/src/trainer/marigold_normals_trainer.py index fae2aa8..d0832e6 100644 --- a/src/trainer/marigold_normals_trainer.py +++ b/src/trainer/marigold_normals_trainer.py @@ -132,9 +132,9 @@ def __init__( ) self.prediction_type = self.training_noise_scheduler.config.prediction_type - assert self.prediction_type == self.model.scheduler.config.prediction_type, ( - "Different prediction types" - ) + assert ( + self.prediction_type == self.model.scheduler.config.prediction_type + ), "Different prediction types" self.scheduler_timesteps = ( self.training_noise_scheduler.config.num_train_timesteps ) @@ -154,9 +154,9 @@ def __init__( self.main_val_metric = cfg.validation.main_val_metric self.main_val_metric_goal = cfg.validation.main_val_metric_goal - assert self.main_val_metric in cfg.eval.eval_metrics, ( - f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." - ) + assert ( + self.main_val_metric in cfg.eval.eval_metrics + ), f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics." self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8 @@ -185,7 +185,9 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = ( + [] + ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in(self): # replace the first layer to accept 8 in_channels diff --git a/src/util/alignment.py b/src/util/alignment.py index a08745a..d3a73c1 100644 --- a/src/util/alignment.py +++ b/src/util/alignment.py @@ -58,9 +58,9 @@ def align_depth_least_square( .numpy() ) - assert gt.shape == pred.shape == valid_mask.shape, ( - f"{gt.shape}, {pred.shape}, {valid_mask.shape}" - ) + assert ( + gt.shape == pred.shape == valid_mask.shape + ), f"{gt.shape}, {pred.shape}, {valid_mask.shape}" gt_masked = gt[valid_mask].reshape((-1, 1)) pred_masked = pred[valid_mask].reshape((-1, 1)) diff --git a/src/util/config_util.py b/src/util/config_util.py index 51b41b6..9d29bbb 100644 --- a/src/util/config_util.py +++ b/src/util/config_util.py @@ -42,9 +42,9 @@ def recursive_load_config(config_path: str) -> OmegaConf: if base_configs is not None: assert isinstance(base_configs, omegaconf.listconfig.ListConfig) for _path in base_configs: - assert _path != config_path, ( - "Circulate merging, base_config should not include itself." - ) + assert ( + _path != config_path + ), "Circulate merging, base_config should not include itself." _base_conf = recursive_load_config(_path) output_conf = OmegaConf.merge(output_conf, _base_conf) diff --git a/src/util/metric.py b/src/util/metric.py index a0d82eb..7491c9e 100644 --- a/src/util/metric.py +++ b/src/util/metric.py @@ -198,9 +198,9 @@ def compute_cosine_error(pred_norm, gt_norm, masked=False): gt_norm = gt_norm.squeeze(0) # shape must be [3,H,W] - assert (gt_norm.shape[0] == 3) and (pred_norm.shape[0] == 3), ( - "Channel dim should be the first dimension!" - ) + assert (gt_norm.shape[0] == 3) and ( + pred_norm.shape[0] == 3 + ), "Channel dim should be the first dimension!" # mask out the zero vectors, otherwise torch.cosine_similarity computes 90° as error if masked: ch, h, w = gt_norm.shape From df14d4bf308f8c6db720ee72bdf57be836ef3ea4 Mon Sep 17 00:00:00 2001 From: KevinQu7 Date: Mon, 24 Mar 2025 09:29:46 +0100 Subject: [PATCH 4/9] formatting --- marigold/marigold_depth_pipeline.py | 4 +--- marigold/marigold_iid_pipeline.py | 4 +--- marigold/marigold_normals_pipeline.py | 4 +--- src/dataset/base_depth_dataset.py | 12 ++++++------ src/trainer/marigold_depth_trainer.py | 4 +--- src/trainer/marigold_iid_trainer.py | 4 +--- src/trainer/marigold_normals_trainer.py | 4 +--- 7 files changed, 12 insertions(+), 24 deletions(-) diff --git a/marigold/marigold_depth_pipeline.py b/marigold/marigold_depth_pipeline.py index 468227e..07d02e2 100644 --- a/marigold/marigold_depth_pipeline.py +++ b/marigold/marigold_depth_pipeline.py @@ -439,9 +439,7 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to( - device - ) # [B, 2, 1024] + ).to(device) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/marigold/marigold_iid_pipeline.py b/marigold/marigold_iid_pipeline.py index 0bc7a1c..79c3f40 100644 --- a/marigold/marigold_iid_pipeline.py +++ b/marigold/marigold_iid_pipeline.py @@ -509,9 +509,7 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to( - device - ) # [B, 2, 1024] + ).to(device) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/marigold/marigold_normals_pipeline.py b/marigold/marigold_normals_pipeline.py index 91e5e06..9f1a06a 100644 --- a/marigold/marigold_normals_pipeline.py +++ b/marigold/marigold_normals_pipeline.py @@ -404,9 +404,7 @@ def single_infer( self.encode_empty_text() batch_empty_text_embed = self.empty_text_embed.repeat( (rgb_latent.shape[0], 1, 1) - ).to( - device - ) # [B, 2, 1024] + ).to(device) # [B, 2, 1024] # Denoising loop if show_pbar: diff --git a/src/dataset/base_depth_dataset.py b/src/dataset/base_depth_dataset.py index b1acaef..5b7a997 100644 --- a/src/dataset/base_depth_dataset.py +++ b/src/dataset/base_depth_dataset.py @@ -237,13 +237,13 @@ def _training_preprocess(self, rasters): # Set invalid pixel to far plane if self.move_invalid_to_far_plane: if self.depth_transform.far_plane_at_max: - rasters["depth_filled_norm"][ - ~rasters["valid_mask_filled"] - ] = self.depth_transform.norm_max + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_max + ) else: - rasters["depth_filled_norm"][ - ~rasters["valid_mask_filled"] - ] = self.depth_transform.norm_min + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_min + ) # Resize if self.resize_to_hw is not None: diff --git a/src/trainer/marigold_depth_trainer.py b/src/trainer/marigold_depth_trainer.py index 74b6c39..749f78d 100644 --- a/src/trainer/marigold_depth_trainer.py +++ b/src/trainer/marigold_depth_trainer.py @@ -182,9 +182,7 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = ( - [] - ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in(self): # replace the first layer to accept 8 in_channels diff --git a/src/trainer/marigold_iid_trainer.py b/src/trainer/marigold_iid_trainer.py index c8e72d3..48fbf89 100644 --- a/src/trainer/marigold_iid_trainer.py +++ b/src/trainer/marigold_iid_trainer.py @@ -198,9 +198,7 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = ( - [] - ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in_out_multimodal(self): n_outputs = self.model.n_targets diff --git a/src/trainer/marigold_normals_trainer.py b/src/trainer/marigold_normals_trainer.py index d0832e6..79f4691 100644 --- a/src/trainer/marigold_normals_trainer.py +++ b/src/trainer/marigold_normals_trainer.py @@ -185,9 +185,7 @@ def __init__( self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training self.effective_iter = 0 # how many times optimizer.step() is called self.in_evaluation = False - self.global_seed_sequence: List = ( - [] - ) # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming + self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming def _replace_unet_conv_in(self): # replace the first layer to accept 8 in_channels From 5543175bc32e25127300727cdc0b9db3b48a6a42 Mon Sep 17 00:00:00 2001 From: Bingxin Ke <45253439+markkua@users.noreply.github.com> Date: Thu, 15 May 2025 10:16:54 +0200 Subject: [PATCH 5/9] Update arxiv link and bibtex --- README.md | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index a31d3be..a36bf23 100644 --- a/README.md +++ b/README.md @@ -32,7 +32,7 @@ monocular depth estimation results. ## Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis [![Website](doc/badges/badge-website.svg)](https://marigoldcomputervision.github.io) -[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2312.02145) +[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2505.09358) [![Depth Demo](https://img.shields.io/badge/🤗%20Depth-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold) [![Normals Demo](https://img.shields.io/badge/🤗%20Normals-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-normals) [![Intrinsics Demo](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-iid) @@ -475,6 +475,15 @@ Please cite our paper: booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, year={2024} } + +@misc{ke2025marigold, + title={Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis}, + author={Bingxin Ke and Kevin Qu and Tianfu Wang and Nando Metzger and Shengyu Huang and Bo Li and Anton Obukhov and Konrad Schindler}, + year={2025}, + eprint={2505.09358}, + archivePrefix={arXiv}, + primaryClass={cs.CV} +} ``` ## 🎫 License From c562ae6a94015502d5dc1375c63021420e35e6d4 Mon Sep 17 00:00:00 2001 From: KevinQu7 Date: Thu, 15 May 2025 10:42:34 +0200 Subject: [PATCH 6/9] update news section --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a36bf23..a8c1f62 100644 --- a/README.md +++ b/README.md @@ -60,10 +60,10 @@ GPU over a few days, and demonstrates state-of-the-art zero-shot generalization. ![teaser_all](doc/teaser_marigold_all.jpg) ## 📢 News -2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, diffuse Shading, and non-diffuse Residual (Marigold-IID-Lighting v1.1).
    -2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, Roughness, and Metallicity (Marigold-IID-Appearance v1.1).
    -2025-03-24: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-normals-v1-1) of Marigold Surface Normals Estimation (v1.1).
    -2025-03-24: Released an updated [checkpoint](https://huggingface.co/prs-eth/marigold-depth-v1-1) of Marigold Depth (v1.1), trained with updated noise scheduler settings (zero-SNR and trailing timestamps), and augmentations.
    +2025-05-15: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, diffuse Shading, and non-diffuse Residual (Marigold-IID-Lighting v1.1).
    +2025-05-15: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, Roughness, and Metallicity (Marigold-IID-Appearance v1.1).
    +2025-05-15: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-normals-v1-1) of Marigold Surface Normals Estimation (v1.1).
    +2025-05-15: Released an updated [checkpoint](https://huggingface.co/prs-eth/marigold-depth-v1-1) of Marigold Depth (v1.1), trained with updated noise scheduler settings (zero-SNR and trailing timestamps), and augmentations.
    2024-05-28: Training code is released.
    2024-05-27: Marigold pipelines are merged into the `diffusers` core starting v0.28.0 [release](https://github.com/huggingface/diffusers/releases/tag/v0.28.0)!
    2024-03-23: Added a Latent Consistency Model (LCM) [checkpoint](https://huggingface.co/prs-eth/marigold-depth-lcm-v1-0).
    From 9e564ad1f62c2a75797314db8f5bbd1492a4ab82 Mon Sep 17 00:00:00 2001 From: Anton Obukhov <4390695+toshas@users.noreply.github.com> Date: Thu, 15 May 2025 12:00:03 +0200 Subject: [PATCH 7/9] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a8c1f62..b98612b 100644 --- a/README.md +++ b/README.md @@ -470,10 +470,10 @@ Please cite our paper: ```bibtex @InProceedings{ke2023repurposing, - title={Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation}, - author={Bingxin Ke and Anton Obukhov and Shengyu Huang and Nando Metzger and Rodrigo Caye Daudt and Konrad Schindler}, - booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, - year={2024} + title={Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation}, + author={Bingxin Ke and Anton Obukhov and Shengyu Huang and Nando Metzger and Rodrigo Caye Daudt and Konrad Schindler}, + booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, + year={2024} } @misc{ke2025marigold, From 6f712de3d1c93033af797ace29c1ede2bef31527 Mon Sep 17 00:00:00 2001 From: Anton Obukhov <4390695+toshas@users.noreply.github.com> Date: Thu, 15 May 2025 12:02:41 +0200 Subject: [PATCH 8/9] Update README.md --- README.md | 57 ++++++++++++++++++++++++++++--------------------------- 1 file changed, 29 insertions(+), 28 deletions(-) diff --git a/README.md b/README.md index b98612b..a77f84f 100644 --- a/README.md +++ b/README.md @@ -5,30 +5,6 @@ extracting high-resolution depth maps in our CVPR 2024 paper **"Repurposing Diff Depth Estimation"**, we extended the method to other modalities as described in our follow-up paper **"Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis"**. -## Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation - -[![Website](doc/badges/badge-website.svg)](https://marigoldmonodepth.github.io) -[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2312.02145) -[![Hugging Face Space](https://img.shields.io/badge/🤗%20Hugging%20Face-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold) -[![Hugging Face Model](https://img.shields.io/badge/🤗%20Hugging%20Face%20-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) -[![Open In Colab](doc/badges/badge-colab.svg)](https://colab.research.google.com/drive/12G8reD13DdpMie5ZQlaFNo2WCGeNUH-u?usp=sharing) - -In **CVPR 2024 (Oral, Best Paper Award Candidate)**
    -Team: -[Bingxin Ke](http://www.kebingxin.com/), -[Anton Obukhov](https://www.obukhov.ai/), -[Shengyu Huang](https://shengyuh.github.io/), -[Nando Metzger](https://nandometzger.github.io/), -[Rodrigo Caye Daudt](https://rcdaudt.github.io/), -[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ) - -We present Marigold, a diffusion model, and associated fine-tuning protocol for monocular depth estimation. Its core -principle is to leverage the rich visual knowledge stored in modern generative image models. Our model, derived from -Stable Diffusion and fine-tuned with synthetic data, can zero-shot transfer to unseen data, offering state-of-the-art -monocular depth estimation results. - -![teaser_depth](doc/teaser_marigold_depth.png) - ## Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysis [![Website](doc/badges/badge-website.svg)](https://marigoldcomputervision.github.io) @@ -38,8 +14,9 @@ monocular depth estimation results. [![Intrinsics Demo](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-iid) [![Depth Model](https://img.shields.io/badge/🤗%20Depth-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) [![Normals Model](https://img.shields.io/badge/🤗%20Normals-Model-green)](https://huggingface.co/prs-eth/marigold-normals-v1-1) -[![Intrinsics Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Model-green)](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) -[![Diffusers](doc/badges/badge-hfdiffusers.svg)](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage) +[![Intrinsics Appearance Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Appearance-Model-green)](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) +[![Intrinsics Lighting Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Lighting-Model-green)](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) +[![Diffusers Tutorial](doc/badges/badge-hfdiffusers.svg)](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage) Team: [Bingxin Ke](http://www.kebingxin.com/), @@ -48,8 +25,8 @@ Team: [Nando Metzger](https://nandometzger.github.io/), [Shengyu Huang](https://shengyuh.github.io/), [Bo Li](https://www.linkedin.com/in/bobboli0202/), -[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ), -[Anton Obukhov](https://www.obukhov.ai/) +[Anton Obukhov](https://www.obukhov.ai/), +[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ) We present Marigold, a family of conditional generative models and a fine-tuning protocol that extracts the knowledge from pretrained latent diffusion models like Stable Diffusion and adapts them for dense image analysis tasks, including @@ -59,6 +36,30 @@ GPU over a few days, and demonstrates state-of-the-art zero-shot generalization. ![teaser_all](doc/teaser_marigold_all.jpg) +## Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation + +[![Website](doc/badges/badge-website.svg)](https://marigoldmonodepth.github.io) +[![Paper](doc/badges/badge-pdf.svg)](https://arxiv.org/abs/2312.02145) +[![Hugging Face Space](https://img.shields.io/badge/🤗%20Hugging%20Face-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold) +[![Hugging Face Model](https://img.shields.io/badge/🤗%20Hugging%20Face%20-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) +[![Open In Colab](doc/badges/badge-colab.svg)](https://colab.research.google.com/drive/12G8reD13DdpMie5ZQlaFNo2WCGeNUH-u?usp=sharing) + +In **CVPR 2024 (Oral, Best Paper Award Candidate)**
    +Team: +[Bingxin Ke](http://www.kebingxin.com/), +[Anton Obukhov](https://www.obukhov.ai/), +[Shengyu Huang](https://shengyuh.github.io/), +[Nando Metzger](https://nandometzger.github.io/), +[Rodrigo Caye Daudt](https://rcdaudt.github.io/), +[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ) + +We present Marigold, a diffusion model, and an associated fine-tuning protocol for monocular depth estimation. Its core +principle is to leverage the rich visual knowledge stored in modern generative image models. Our model, derived from +Stable Diffusion and fine-tuned with synthetic data, can zero-shot transfer to unseen data, offering state-of-the-art +monocular depth estimation results. + +![teaser_depth](doc/teaser_marigold_depth.png) + ## 📢 News 2025-05-15: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, diffuse Shading, and non-diffuse Residual (Marigold-IID-Lighting v1.1).
    2025-05-15: Released code and a [checkpoint](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) of Marigold Intrinsic Image Decomposition predicting Albedo, Roughness, and Metallicity (Marigold-IID-Appearance v1.1).
    From 743b2fbbad4f3902d8cbab024a0681c0cf72ede6 Mon Sep 17 00:00:00 2001 From: Anton Obukhov <4390695+toshas@users.noreply.github.com> Date: Thu, 15 May 2025 12:04:30 +0200 Subject: [PATCH 9/9] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index a77f84f..f9a3814 100644 --- a/README.md +++ b/README.md @@ -14,8 +14,8 @@ Adaptation of Diffusion-Based Image Generators for Image Analysis"**. [![Intrinsics Demo](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Demo-yellow)](https://huggingface.co/spaces/prs-eth/marigold-iid) [![Depth Model](https://img.shields.io/badge/🤗%20Depth-Model-green)](https://huggingface.co/prs-eth/marigold-depth-v1-1) [![Normals Model](https://img.shields.io/badge/🤗%20Normals-Model-green)](https://huggingface.co/prs-eth/marigold-normals-v1-1) -[![Intrinsics Appearance Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Appearance-Model-green)](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) -[![Intrinsics Lighting Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics-Lighting-Model-green)](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) +[![Intrinsics Appearance Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics%20Appearance-Model-green)](https://huggingface.co/prs-eth/marigold-iid-appearance-v1-1) +[![Intrinsics Lighting Model](https://img.shields.io/badge/🤗%20Image%20Intrinsics%20Lighting-Model-green)](https://huggingface.co/prs-eth/marigold-iid-lighting-v1-1) [![Diffusers Tutorial](doc/badges/badge-hfdiffusers.svg)](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage) Team: @@ -467,7 +467,7 @@ Please refer to [this](CONTRIBUTING.md) instruction. ## 🎓 Citation -Please cite our paper: +Please cite our papers: ```bibtex @InProceedings{ke2023repurposing,

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