From 3f48276aed13b001efc943952508dc0fb346a54a Mon Sep 17 00:00:00 2001
From: Nils Koch <nkoch@seibert-media.net>
Date: Mon, 30 May 2022 16:41:08 +0200
Subject: [PATCH] frontend/main.py: initial commit

most likely borked, but needs testing
---
 frontend/main.py | 111 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 frontend/main.py

diff --git a/frontend/main.py b/frontend/main.py
new file mode 100644
index 0000000..5e90bf2
--- /dev/null
+++ b/frontend/main.py
@@ -0,0 +1,111 @@
+from typing import Optional
+
+from fastapi import FastAPI
+from pydantic import BaseModel
+
+import numpy as np
+from cv2 import cv2
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from ..nets import Model
+
+
+app = FastAPI()
+
+# TODO
+#   beide modelle laden, jeweils eine gpu zuweisen
+#   routen bauen, gegen die man bilder werfen kann, die dann jeweils von einem modell interpretiert werden
+#   ergebnisse zurueck geben
+#
+#   input validierung nicht vergessen
+#   paramter (bildgroesse etc.) konfigurierbar machen oder automatisch rausfinden?
+#       kommt ctd überhaupt mit was anderem klar?
+
+
+class Item(BaseModel):
+    name: str
+    price: float
+    is_offer: Optional[bool] = None
+
+
+class IrImage(BaseModel):
+    image: np.array
+
+
+reference_pattern_path = '/home/nils/kinect_reference_cropped.png'
+reference_pattern = cv2.imread(reference_pattern_path)
+model_path = "../train_log/models/latest.pth"
+device = torch.device('cuda:0')
+
+model = Model(max_disp=256, mixed_precision=False, test_mode=True)
+model = nn.DataParallel(model, device_ids=[])
+# model.load_state_dict(torch.load(model_path), strict=False)
+state_dict = torch.load(model_path)['state_dict']
+model.load_state_dict(state_dict, strict=True)
+model.to(device)
+model.eval()
+
+
+def normalize_and_colormap(img):
+    ret = (img - img.min()) / (img.max() - img.min()) * 255.0
+    if isinstance(ret, torch.Tensor):
+        ret = ret.cpu().detach().numpy()
+    ret = ret.astype("uint8")
+    ret = cv2.applyColorMap(ret, cv2.COLORMAP_INFERNO)
+    return ret
+
+
+def inference_ctd(left, right, model, n_iter=20):
+    print("Model Forwarding...")
+    # print(left.shape)
+    # left = left.cpu().detach().numpy()
+    # imgL = left
+    # imgR = right.cpu().detach().numpy()
+    imgL = np.ascontiguousarray(left[None, :, :, :])
+    imgR = np.ascontiguousarray(right[None, :, :, :])
+
+    # chosen for convenience
+    device = torch.device('cuda:0')
+
+    imgL = torch.tensor(imgL.astype("float32")).to(device)
+    imgR = torch.tensor(imgR.astype("float32")).to(device)
+    imgL = imgL.transpose(2, 3).transpose(1, 2)
+
+    imgL_dw2 = F.interpolate(
+        imgL,
+        size=(imgL.shape[2] // 2, imgL.shape[3] // 2),
+        mode="bilinear",
+        align_corners=True,
+    )
+    imgR_dw2 = F.interpolate(
+        imgR,
+        size=(imgL.shape[2] // 2, imgL.shape[3] // 2),
+        mode="bilinear",
+        align_corners=True,
+    )
+    with torch.inference_mode():
+        pred_flow_dw2 = model(image1=imgL_dw2, image2=imgR_dw2, iters=n_iter, flow_init=None)
+        pred_flow = model(imgL, imgR, iters=n_iter, flow_init=pred_flow_dw2)
+
+    for i, (pf, pf_dw2) in enumerate(zip(pred_flow, pred_flow_dw2)):
+        pred_disp = torch.squeeze(pf[:, 0, :, :]).cpu().detach().numpy()
+        pred_disp_norm = cv2.normalize(pred_disp, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
+
+    return pred_disp_norm
+
+
+@app.put("/ir")
+def read_ir_input(ir_image: IrImage):
+    pred_disp = inference_ctd(ir_image.image, reference_pattern)
+    return {"pred_disp": pred_disp}
+
+
+@app.get("/items/{item_id}")
+def read_item(item_id: int, q: Optional[str] = None):
+    return {"item_id": item_id, "q": q}
+
+
+@app.put("/items/{item_id}")
+def update_item(item_id: int, item: Item):
+    return {"item_price": item.price, "item_id": item_id}