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import os
import numpy as np
import torch
import torch.nn.functional as F
from torchvision.transforms import v2
from torchvision.utils import make_grid, save_image
from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
import pytorch_lightning as pl
from einops import rearrange, repeat
from src.utils.train_util import instantiate_from_config
class MVRecon(pl.LightningModule):
def __init__(
self,
lrm_generator_config,
lrm_path=None,
input_size=256,
render_size=192,
):
super(MVRecon, self).__init__()
self.input_size = input_size
self.render_size = render_size
# init modules
self.lrm_generator = instantiate_from_config(lrm_generator_config)
if lrm_path is not None:
lrm_ckpt = torch.load(lrm_path)
self.lrm_generator.load_state_dict(lrm_ckpt['weights'], strict=False)
self.lpips = LearnedPerceptualImagePatchSimilarity(net_type='vgg')
self.validation_step_outputs = []
def on_fit_start(self):
if self.global_rank == 0:
os.makedirs(os.path.join(self.logdir, 'images'), exist_ok=True)
os.makedirs(os.path.join(self.logdir, 'images_val'), exist_ok=True)
def prepare_batch_data(self, batch):
lrm_generator_input = {}
render_gt = {} # for supervision
# input images
images = batch['input_images']
images = v2.functional.resize(
images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
lrm_generator_input['images'] = images.to(self.device)
# input cameras and render cameras
input_c2ws = batch['input_c2ws'].flatten(-2)
input_Ks = batch['input_Ks'].flatten(-2)
target_c2ws = batch['target_c2ws'].flatten(-2)
target_Ks = batch['target_Ks'].flatten(-2)
render_cameras_input = torch.cat([input_c2ws, input_Ks], dim=-1)
render_cameras_target = torch.cat([target_c2ws, target_Ks], dim=-1)
render_cameras = torch.cat([render_cameras_input, render_cameras_target], dim=1)
input_extrinsics = input_c2ws[:, :, :12]
input_intrinsics = torch.stack([
input_Ks[:, :, 0], input_Ks[:, :, 4],
input_Ks[:, :, 2], input_Ks[:, :, 5],
], dim=-1)
cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
# add noise to input cameras
cameras = cameras + torch.rand_like(cameras) * 0.04 - 0.02
lrm_generator_input['cameras'] = cameras.to(self.device)
lrm_generator_input['render_cameras'] = render_cameras.to(self.device)
# target images
target_images = torch.cat([batch['input_images'], batch['target_images']], dim=1)
target_depths = torch.cat([batch['input_depths'], batch['target_depths']], dim=1)
target_alphas = torch.cat([batch['input_alphas'], batch['target_alphas']], dim=1)
# random crop
render_size = np.random.randint(self.render_size, 513)
target_images = v2.functional.resize(
target_images, render_size, interpolation=3, antialias=True).clamp(0, 1)
target_depths = v2.functional.resize(
target_depths, render_size, interpolation=0, antialias=True)
target_alphas = v2.functional.resize(
target_alphas, render_size, interpolation=0, antialias=True)
crop_params = v2.RandomCrop.get_params(
target_images, output_size=(self.render_size, self.render_size))
target_images = v2.functional.crop(target_images, *crop_params)
target_depths = v2.functional.crop(target_depths, *crop_params)[:, :, 0:1]
target_alphas = v2.functional.crop(target_alphas, *crop_params)[:, :, 0:1]
lrm_generator_input['render_size'] = render_size
lrm_generator_input['crop_params'] = crop_params
render_gt['target_images'] = target_images.to(self.device)
render_gt['target_depths'] = target_depths.to(self.device)
render_gt['target_alphas'] = target_alphas.to(self.device)
return lrm_generator_input, render_gt
def prepare_validation_batch_data(self, batch):
lrm_generator_input = {}
# input images
images = batch['input_images']
images = v2.functional.resize(
images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
lrm_generator_input['images'] = images.to(self.device)
input_c2ws = batch['input_c2ws'].flatten(-2)
input_Ks = batch['input_Ks'].flatten(-2)
input_extrinsics = input_c2ws[:, :, :12]
input_intrinsics = torch.stack([
input_Ks[:, :, 0], input_Ks[:, :, 4],
input_Ks[:, :, 2], input_Ks[:, :, 5],
], dim=-1)
cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
lrm_generator_input['cameras'] = cameras.to(self.device)
render_c2ws = batch['render_c2ws'].flatten(-2)
render_Ks = batch['render_Ks'].flatten(-2)
render_cameras = torch.cat([render_c2ws, render_Ks], dim=-1)
lrm_generator_input['render_cameras'] = render_cameras.to(self.device)
lrm_generator_input['render_size'] = 384
lrm_generator_input['crop_params'] = None
return lrm_generator_input
def forward_lrm_generator(
self,
images,
cameras,
render_cameras,
render_size=192,
crop_params=None,
chunk_size=1,
):
planes = torch.utils.checkpoint.checkpoint(
self.lrm_generator.forward_planes,
images,
cameras,
use_reentrant=False,
)
frames = []
for i in range(0, render_cameras.shape[1], chunk_size):
frames.append(
torch.utils.checkpoint.checkpoint(
self.lrm_generator.synthesizer,
planes,
cameras=render_cameras[:, i:i+chunk_size],
render_size=render_size,
crop_params=crop_params,
use_reentrant=False
)
)
frames = {
k: torch.cat([r[k] for r in frames], dim=1)
for k in frames[0].keys()
}
return frames
def forward(self, lrm_generator_input):
images = lrm_generator_input['images']
cameras = lrm_generator_input['cameras']
render_cameras = lrm_generator_input['render_cameras']
render_size = lrm_generator_input['render_size']
crop_params = lrm_generator_input['crop_params']
out = self.forward_lrm_generator(
images,
cameras,
render_cameras,
render_size=render_size,
crop_params=crop_params,
chunk_size=1,
)
render_images = torch.clamp(out['images_rgb'], 0.0, 1.0)
render_depths = out['images_depth']
render_alphas = torch.clamp(out['images_weight'], 0.0, 1.0)
out = {
'render_images': render_images,
'render_depths': render_depths,
'render_alphas': render_alphas,
}
return out
def training_step(self, batch, batch_idx):
lrm_generator_input, render_gt = self.prepare_batch_data(batch)
render_out = self.forward(lrm_generator_input)
loss, loss_dict = self.compute_loss(render_out, render_gt)
self.log_dict(loss_dict, prog_bar=True, logger=True, on_step=True, on_epoch=True)
if self.global_step % 1000 == 0 and self.global_rank == 0:
B, N, C, H, W = render_gt['target_images'].shape
N_in = lrm_generator_input['images'].shape[1]
input_images = v2.functional.resize(
lrm_generator_input['images'], (H, W), interpolation=3, antialias=True).clamp(0, 1)
input_images = torch.cat(
[input_images, torch.ones(B, N-N_in, C, H, W).to(input_images)], dim=1)
input_images = rearrange(
input_images, 'b n c h w -> b c h (n w)')
target_images = rearrange(
render_gt['target_images'], 'b n c h w -> b c h (n w)')
render_images = rearrange(
render_out['render_images'], 'b n c h w -> b c h (n w)')
target_alphas = rearrange(
repeat(render_gt['target_alphas'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
render_alphas = rearrange(
repeat(render_out['render_alphas'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
target_depths = rearrange(
repeat(render_gt['target_depths'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
render_depths = rearrange(
repeat(render_out['render_depths'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
MAX_DEPTH = torch.max(target_depths)
target_depths = target_depths / MAX_DEPTH * target_alphas
render_depths = render_depths / MAX_DEPTH
grid = torch.cat([
input_images,
target_images, render_images,
target_alphas, render_alphas,
target_depths, render_depths,
], dim=-2)
grid = make_grid(grid, nrow=target_images.shape[0], normalize=True, value_range=(0, 1))
save_image(grid, os.path.join(self.logdir, 'images', f'train_{self.global_step:07d}.png'))
return loss
def compute_loss(self, render_out, render_gt):
# NOTE: the rgb value range of OpenLRM is [0, 1]
render_images = render_out['render_images']
target_images = render_gt['target_images'].to(render_images)
render_images = rearrange(render_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
target_images = rearrange(target_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
loss_mse = F.mse_loss(render_images, target_images)
loss_lpips = 2.0 * self.lpips(render_images, target_images)
render_alphas = render_out['render_alphas']
target_alphas = render_gt['target_alphas']
loss_mask = F.mse_loss(render_alphas, target_alphas)
loss = loss_mse + loss_lpips + loss_mask
prefix = 'train'
loss_dict = {}
loss_dict.update({f'{prefix}/loss_mse': loss_mse})
loss_dict.update({f'{prefix}/loss_lpips': loss_lpips})
loss_dict.update({f'{prefix}/loss_mask': loss_mask})
loss_dict.update({f'{prefix}/loss': loss})
return loss, loss_dict
@torch.no_grad()
def validation_step(self, batch, batch_idx):
lrm_generator_input = self.prepare_validation_batch_data(batch)
render_out = self.forward(lrm_generator_input)
render_images = render_out['render_images']
render_images = rearrange(render_images, 'b n c h w -> b c h (n w)')
self.validation_step_outputs.append(render_images)
def on_validation_epoch_end(self):
images = torch.cat(self.validation_step_outputs, dim=-1)
all_images = self.all_gather(images)
all_images = rearrange(all_images, 'r b c h w -> (r b) c h w')
if self.global_rank == 0:
image_path = os.path.join(self.logdir, 'images_val', f'val_{self.global_step:07d}.png')
grid = make_grid(all_images, nrow=1, normalize=True, value_range=(0, 1))
save_image(grid, image_path)
print(f"Saved image to {image_path}")
self.validation_step_outputs.clear()
def configure_optimizers(self):
lr = self.learning_rate
params = []
params.append({"params": self.lrm_generator.parameters(), "lr": lr, "weight_decay": 0.01 })
optimizer = torch.optim.AdamW(params, lr=lr, betas=(0.90, 0.95))
scheduler = torch.optim.lr_scheduler.CosineAnnealingWarmRestarts(optimizer, 3000, eta_min=lr/10)
return {'optimizer': optimizer, 'lr_scheduler': scheduler}