Fix CUDA inference

main
Ibai 3 years ago
parent 494d12893b
commit 3396d2fd06
  1. 3
      nets/attention/position_encoding.py
  2. 22
      test_model.py

@ -18,7 +18,6 @@ class PositionEncodingSine(nn.Module):
We will remove the buggy impl after re-training all variants of our released models.
"""
super().__init__()
pe = torch.zeros((d_model, *max_shape))
y_position = torch.ones(max_shape).cumsum(0).float().unsqueeze(0)
x_position = torch.ones(max_shape).cumsum(1).float().unsqueeze(0)
@ -39,4 +38,4 @@ class PositionEncodingSine(nn.Module):
Args:
x: [N, C, H, W]
"""
return x + self.pe[:, :, :x.size(2), :x.size(3)]
return x + self.pe[:, :, :x.size(2), :x.size(3)].to(x.device)

@ -6,6 +6,8 @@ from imread_from_url import imread_from_url
from nets import Model
device = 'cuda'
#Ref: https://github.com/megvii-research/CREStereo/blob/master/test.py
def inference(left, right, model, n_iter=20):
@ -15,8 +17,8 @@ def inference(left, right, model, n_iter=20):
imgL = np.ascontiguousarray(imgL[None, :, :, :])
imgR = np.ascontiguousarray(imgR[None, :, :, :])
imgL = torch.tensor(imgL.astype("float32"))
imgR = torch.tensor(imgR.astype("float32"))
imgL = torch.tensor(imgL.astype("float32")).to(device)
imgR = torch.tensor(imgR.astype("float32")).to(device)
imgL_dw2 = F.interpolate(
imgL,
@ -35,26 +37,32 @@ def inference(left, right, model, n_iter=20):
pred_flow_dw2 = model(imgL_dw2, imgR_dw2, iters=n_iter, flow_init=None)
pred_flow = model(imgL, imgR, iters=n_iter, flow_init=pred_flow_dw2)
pred_disp = torch.squeeze(pred_flow[:, 0, :, :]).detach().numpy()
pred_disp = torch.squeeze(pred_flow[:, 0, :, :]).cpu().detach().numpy()
return pred_disp
if __name__ == '__main__':
left_img = imread_from_url("https://vision.middlebury.edu/stereo/data/scenes2003/newdata/cones/im2.png")
right_img = imread_from_url("https://vision.middlebury.edu/stereo/data/scenes2003/newdata/cones/im6.png")
left_img = imread_from_url("https://raw.githubusercontent.com/megvii-research/CREStereo/master/img/test/left.png")
right_img = imread_from_url("https://raw.githubusercontent.com/megvii-research/CREStereo/master/img/test/right.png")
# Resize image in case the GPU memory overflows
eval_h, eval_w = (240,426)
imgL = cv2.resize(left, (eval_w, eval_h), interpolation=cv2.INTER_LINEAR)
imgR = cv2.resize(right, (eval_w, eval_h), interpolation=cv2.INTER_LINEAR)
model_path = "models/crestereo_eth3d.pth"
model = Model(max_disp=256, mixed_precision=False, test_mode=True)
model.load_state_dict(torch.load(model_path), strict=True)
model.to(device)
model.eval()
disp = inference(left_img, right_img, model, n_iter=20)
disp = inference(imgL, imgR, model, n_iter=20)
disp_vis = (disp - disp.min()) / (disp.max() - disp.min()) * 255.0
disp_vis = disp_vis.astype("uint8")
disp_vis = cv2.applyColorMap(disp_vis, cv2.COLORMAP_INFERNO)
disp_vis = cv2.resize(disp_vis, left_img.shape[1::-1])
left_img = cv2.resize(left_img, disp_vis.shape[1::-1])
combined_img = np.hstack((left_img, disp_vis))
cv2.imshow("output", combined_img)

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