app.py

import torch
import torch.nn as nn
import gradio as gr
import numpy as np
import os
import random
import pickle as pkl
from models.segmentation_models.linearfusemaskedconsmixbatch.segformer import LinearFusionMaskedConsistencyMixBatch
from models.segmentation_models.linearfuse.segformer import WeTrLinearFusion
from datasets.preprocessors import RGBDValPre
from utils.constants import Constants as C

class Arguments:
    def __init__(self, ratio):
        self.ratio = ratio
        self.masking_ratio = 1.0

colors = pkl.load(open('./colors.pkl', 'rb'))
args = Arguments(ratio = 0.8)

mtmodel = WeTrLinearFusion("mit_b2", args, num_classes=13, pretrained=False)
mtmodelpath = './checkpoints/sid_1-500_mtteacher.pth'
mtmodel.load_state_dict(torch.load(mtmodelpath,  map_location=torch.device('cpu')))
mtmodel.eval()

m3lmodel = LinearFusionMaskedConsistencyMixBatch("mit_b2", args, num_classes=13, pretrained=False)
m3lmodelpath = './checkpoints/sid_1-500_m3lteacher.pth'
m3lmodel.load_state_dict(torch.load(m3lmodelpath,  map_location=torch.device('cpu')))
m3lmodel.eval()



class MaskStudentTeacher(nn.Module):
    
    def __init__(self, student, teacher, ema_alpha, mode = 'train'):
        super(MaskStudentTeacher, self).__init__()
        self.student = student
        self.teacher = teacher
        self.teacher = self._detach_teacher(self.teacher)
        self.ema_alpha = ema_alpha
        self.mode = mode
    def forward(self, data, student = True, teacher = True, mask = False, range_batches_to_mask = None, **kwargs):
        ret = []
        if student:
            if self.mode == 'train':
                ret.append(self.student(data, mask = mask, range_batches_to_mask = range_batches_to_mask, **kwargs))
            elif self.mode == 'val':
                ret.append(self.student(data, mask = False, **kwargs))
            else:
                raise Exception('Mode not supported')
        if teacher:
            ret.append(self.teacher(data, mask = False,  **kwargs)) #Not computing loss for teacher ever but passing the results as if loss was also returned
        return ret
    def _detach_teacher(self, model):
        for param in model.parameters():
            param.detach_()
        return model
    def update_teacher_models(self, global_step):
        alpha = min(1 - 1 / (global_step + 1), self.ema_alpha)
        for ema_param, param in zip(self.teacher.parameters(), self.student.parameters()):
            ema_param.data.mul_(alpha).add_(1 - alpha, param.data)
        return
    def copy_student_to_teacher(self):
        for ema_param, param in zip(self.teacher.parameters(), self.student.parameters()):
            ema_param.data.mul_(0).add_(param.data)
        return
    def get_params(self):
        student_params = self.student.get_params()
        teacher_params = self.teacher.get_params()
        return student_params
    

def preprocess_data(rgb, depth, dataset_settings):
    #RGB: np.array, RGB
    #Depth: np.array, minmax normalized, *255
    preprocess = RGBDValPre(C.pytorch_mean, C.pytorch_std, dataset_settings)
    rgb, depth = preprocess(rgb, depth)
    if rgb is not None:
        rgb = torch.from_numpy(np.ascontiguousarray(rgb)).float()
    if depth is not None:
        depth = torch.from_numpy(np.ascontiguousarray(depth)).float()
    return rgb, depth


def visualize(colors, pred, num_classes, dataset_settings):
    pred = pred.transpose(1, 2, 0)
    predvis = np.zeros((dataset_settings['orig_height'], dataset_settings['orig_width'], 3))
    for i in range(num_classes):
        color = colors[i]
        predvis = np.where(pred == i, color, predvis)
    predvis /= 255.0
    predvis = predvis[:,:,::-1]
    return predvis

def predict(rgb, depth, check):
    dataset_settings = {}
    dataset_settings['image_height'], dataset_settings['image_width'] = 540, 540
    dataset_settings['orig_height'], dataset_settings['orig_width'] = 540,540
    
    rgb, depth = preprocess_data(rgb, depth, dataset_settings)
    if rgb is not None:
        rgb = rgb.unsqueeze(dim = 0)
    if depth is not None:
        depth = depth.unsqueeze(dim = 0)
    ret = [None, None, './classcolors.png']
    if "Mean Teacher" in check:
        if rgb is None:
            rgb = torch.zeros_like(depth)
        if depth is None:
            depth = torch.zeros_like(rgb)
        scores = mtmodel([rgb, depth])[2]
        scores = torch.nn.functional.interpolate(scores, size = (dataset_settings["orig_height"], dataset_settings["orig_width"]), mode = 'bilinear', align_corners = True)
        prob = scores.detach()
        _, pred = torch.max(prob, dim=1)
        pred = pred.numpy()
        predvis = visualize(colors, pred, num_classes=13, dataset_settings=dataset_settings)
        ret[0] = predvis
    if "M3L" in check:
        mask = False
        masking_branch = None
        if rgb is None:
            mask = True
            masking_branch = 0
        if depth is None:
            mask = True
            masking_branch = 1
        scores = m3lmodel([rgb, depth], mask = mask, masking_branch = masking_branch)[2]
        scores = torch.nn.functional.interpolate(scores, size = (dataset_settings["orig_height"], dataset_settings["orig_width"]), mode = 'bilinear', align_corners = True)
        prob = scores.detach()
        _, pred = torch.max(prob, dim=1)
        pred = pred.numpy()
        predvis = visualize(colors, pred, num_classes=13, dataset_settings=dataset_settings)
        ret[1] = predvis
    
    return ret

imgs = os.listdir('./examples/rgb')
random.shuffle(imgs)
examples = []
for img in imgs:
    examples.append([
        './examples/rgb/'+img, './examples/depth/'+img, ["M3L", "Mean Teacher"]
    ])

with gr.Blocks() as demo:
    with gr.Row():
        rgbinput = gr.Image(label="RGB Input").style(height=256, width=256)
        depthinput = gr.Image(label="Depth Input").style(height=256, width=256)
    with gr.Row():
        modelcheck = gr.CheckboxGroup(["Mean Teacher", "M3L"], label="Predictions from", info="Predict using model trained with:")
    with gr.Row():
        submit_btn = gr.Button("Submit")
    with gr.Row():
        mtoutput = gr.Image(label="Mean Teacher Output").style(height=384, width=384)
        m3loutput = gr.Image(label="M3L Output").style(height=384, width=384)
        classnameouptut = gr.Image(label="Classes").style(height=384, width=384)
    with gr.Row():
        examplesRow = gr.Examples(examples=examples, examples_per_page=10, inputs=[rgbinput, depthinput, modelcheck])
    submit_btn.click(fn = predict, inputs = [rgbinput, depthinput, modelcheck], outputs = [mtoutput, m3loutput, classnameouptut])

demo.launch()