Добавлены пропсы конвейера и стереодвижки, задействованные в прогоне
assets/conveyors (274 МБ) - ленты и угловая секция NVIDIA, на которые ссылается сцена относительным путём. Раньше исключались как перекачиваемые, но без них сцена не композится из коробки. cv/ - код стереодвижков, которые вызывает control_test, без весов: * defom-stereo - рабочий бейзлайн (DEFOM vitl, вход 480, iters 24) * crestereo - второй движок, точнее по габаритам (MAE 23.5 против 32.8 мм) * fast-foundationstereo - проверялся, в бейзлайн не вошёл * circular_section.py - показатель кругового сечения, перенесён в measure_plane.py: выравнивает облако по СОБСТВЕННЫМ главным осям и режет на пяти высотах вдоль каждой. Три самодельные версии (мировые оси, одно сечение) давали хуже; результаты проверки на эталонной геометрии - в circular_section_results.json Веса по-прежнему не в репозитории - источники в MODELS.md. Наборы кадров прежних прогонов (cv/flow_*, 1.26 ГБ) исключены: это выход, а не исходники. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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# CREStereo-Pytorch
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Non-official Pytorch implementation of the CREStereo (CVPR 2022 Oral) model converted from the original MegEngine implementation.
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**update 2023/01/03**:
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- enable DistributedDataParallel (DDP) training, training time is much faster than before.
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```shell
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# train DDP
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# change 'dist' to True in /cfgs/train.yaml file
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python -m torch.distributed.launch --nproc_per_node=8 train.py
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# train DP
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# change 'dist' to False in /cfgs/train.yaml file
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python train.py
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```
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# Important
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- This is just an effort to try to implement the CREStereo model into Pytorch from MegEngine due to the issues of the framework to convert to other formats (https://github.com/megvii-research/CREStereo/issues/3).
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- I am not the author of the paper, and I am don't fully understand what the model is doing. Therefore, there might be small differences with the original model that might impact the performance.
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- I have not added any license, since the repository uses code from different repositories. Check the License section below for more detail.
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# Pretrained model
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- Download the model from [here](https://drive.google.com/file/d/1D2s1v4VhJlNz98FQpFxf_kBAKQVN_7xo/view?usp=sharing) and save it into the **[models](https://github.com/ibaiGorordo/CREStereo-Pytorch/tree/main/models)** folder.
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- The model was converted from the original **[MegEngine weights](https://drive.google.com/file/d/1Wx_-zDQh7BUFBmN9im_26DFpnf3AkXj4/view)** using the `convert_weights.py` script. Place the MegEngine weights (crestereo_eth3d.mge) file into the **[models](https://github.com/ibaiGorordo/CREStereo-Pytorch/tree/main/models)** folder before the conversion.
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# ONNX Conversion
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- After either downloading the pretrained weights or training your own model, you will have a `models/crestereo_eth3d.pth` file. If you want to run your model with ONNX, you need to run the convert_to_onnx.py script. The script has two parts:
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1. Convert the model to an ONNX model that takes in left, right images as well as an initial flow estimate (takes a few seconds)
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2. Convert the model to an ONNX model that takes in left, right images and NO initial flow estimate (takes several minutes and requires pytorch >= 1.12)
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(afaik) You will need both models to get the same results as you do from test_model.py.
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- Run the test_onnx_model.py script to verify your models work as expected!
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- NOTE: although the test_model.py script works with any size images as input, once you have converted your
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Pytorch model into ONNX models, you must provide them with the image sizes used at conversion time or it will not work.
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# Licences:
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- CREStereo (Apache License 2.0): https://github.com/megvii-research/CREStereo/blob/master/LICENSE
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- RAFT (BSD 3-Clause):https://github.com/princeton-vl/RAFT/blob/master/LICENSE
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- LoFTR (Apache License 2.0):https://github.com/zju3dv/LoFTR/blob/master/LICENSE
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# References:
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- CREStereo: https://github.com/megvii-research/CREStereo
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- RAFT: https://github.com/princeton-vl/RAFT
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- LoFTR: https://github.com/zju3dv/LoFTR
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- Grid sample replacement: https://zenn.dev/pinto0309/scraps/7d4032067d0160
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- torch2mge: https://github.com/MegEngine/torch2mge
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