diff --git a/README.md b/README.md index b507a28..4f14fd3 100644 --- a/README.md +++ b/README.md @@ -83,6 +83,32 @@ pip install -e ".[vis]" # 🎬 Demo +Run `demo.py` for interactive 3D visualization via a browser-based [viser](https://github.com/nerfstudio-project/viser) viewer (default `http://localhost:8080`). + +### Try the Example Scenes + +We provide three example scenes in `example/` that you can run out of the box: + +| Scene | Frames | Description | +|:---|:---|:---| +| `church` | 286 | Outdoor church with complex geometry | +| `oxford` | 320 | Oxford street-level walkthrough | +| `university4` | 324 | University campus outdoor scene | + +```bash +# Church scene +python demo.py --model_path /path/to/checkpoint.pt \ + --image_folder example/church --mask_sky + +# Oxford scene with sky masking (outdoor) +python demo.py --model_path /path/to/checkpoint.pt \ + --image_folder example/oxford --mask_sky + +# University scene +python demo.py --model_path /path/to/checkpoint.pt \ + --image_folder example/university4 --mask_sky +``` + ### Streaming Inference from Images ```bash @@ -99,8 +125,7 @@ python demo.py --model_path /path/to/checkpoint.pt \ ### Streaming with Keyframe Interval -Use `--keyframe_interval` to reduce KV cache memory by only keeping every N-th frame as a keyframe. Non-keyframe frames still produce predictions but are not stored in the cache. This is useful for long sequences -which excesses 320 frames. +Use `--keyframe_interval` to reduce KV cache memory by only keeping every N-th frame as a keyframe. Non-keyframe frames still produce predictions but are not stored in the cache. This is useful for long sequences which exceed 320 frames. ```bash python demo.py --model_path /path/to/checkpoint.pt \ @@ -108,6 +133,7 @@ python demo.py --model_path /path/to/checkpoint.pt \ ``` ### Windowed Inference (for long sequences, >3000 frames) + ```bash python demo.py --model_path /path/to/checkpoint.pt \ --video_path video.mp4 --fps 10 \ @@ -137,7 +163,23 @@ python demo.py --model_path /path/to/checkpoint.pt \ --image_folder /path/to/images/ --mask_sky ``` -Sky masks are cached in `_sky_masks/` so subsequent runs skip regeneration. +Sky masks are cached in `_sky_masks/` so subsequent runs skip regeneration. You can also specify a custom cache directory with `--sky_mask_dir`, or save side-by-side mask visualizations with `--sky_mask_visualization_dir`: + +```bash +python demo.py --model_path /path/to/checkpoint.pt \ + --image_folder /path/to/images/ --mask_sky \ + --sky_mask_dir /path/to/cached_masks/ \ + --sky_mask_visualization_dir /path/to/mask_viz/ +``` + +### Visualization Options + +| Argument | Default | Description | +|:---|:---|:---| +| `--port` | `8080` | Viser viewer port | +| `--conf_threshold` | `1.5` | Visibility threshold for filtering low-confidence points | +| `--point_size` | `0.00001` | Point cloud point size | +| `--downsample_factor` | `10` | Spatial downsampling for point cloud display | ### Without FlashInfer (SDPA fallback) diff --git a/demo.py b/demo.py index 14dbe44..387aae2 100644 --- a/demo.py +++ b/demo.py @@ -39,7 +39,12 @@ from lingbot_map.utils.load_fn import load_and_preprocess_images def load_images(image_folder=None, video_path=None, fps=10, image_ext=".jpg,.png", first_k=None, stride=1, image_size=518, patch_size=14, num_workers=8): - """Load images from folder or video and preprocess into a tensor.""" + """Load images from folder or video and preprocess into a tensor. + + Returns: + (images, paths, resolved_image_folder): preprocessed tensor, file paths, + and the folder containing the source images (for sky mask caching etc.). + """ if video_path is not None: video_name = os.path.splitext(os.path.basename(video_path))[0] out_dir = os.path.join(os.path.dirname(video_path), f"{video_name}_frames") @@ -63,6 +68,7 @@ def load_images(image_folder=None, video_path=None, fps=10, image_ext=".jpg,.png pbar.close() cap.release() paths = saved + resolved_folder = out_dir print(f"Extracted {len(paths)} frames from video ({total_frames} total, interval={interval})") else: exts = image_ext.split(",") @@ -70,11 +76,12 @@ def load_images(image_folder=None, video_path=None, fps=10, image_ext=".jpg,.png for ext in exts: paths.extend(glob.glob(os.path.join(image_folder, f"*{ext}"))) paths = sorted(paths) + resolved_folder = image_folder - if stride > 1: - paths = paths[::stride] if first_k is not None and first_k > 0: paths = paths[:first_k] + if stride > 1: + paths = paths[::stride] print(f"Loading {len(paths)} images...") images = load_and_preprocess_images( @@ -85,7 +92,7 @@ def load_images(image_folder=None, video_path=None, fps=10, image_ext=".jpg,.png ) h, w = images.shape[-2:] print(f"Preprocessed images to {w}x{h} using canonical crop mode") - return images, paths + return images, paths, resolved_folder # ============================================================================= @@ -261,8 +268,14 @@ def main(): parser.add_argument("--port", type=int, default=8080) parser.add_argument("--conf_threshold", type=float, default=1.5) parser.add_argument("--downsample_factor", type=int, default=10) - parser.add_argument("--point_size", type=float, default=0.0007) + parser.add_argument("--point_size", type=float, default=0.00001) parser.add_argument("--mask_sky", action="store_true", help="Apply sky segmentation to filter out sky points") + parser.add_argument("--sky_mask_dir", type=str, default=None, + help="Directory for cached sky masks (default: _sky_masks/)") + parser.add_argument("--sky_mask_visualization_dir", type=str, default=None, + help="Save sky mask visualizations (original | mask | overlay) to this directory") + parser.add_argument("--export_preprocessed", type=str, default=None, + help="Export stride-sampled, resized/cropped images to this folder") args = parser.parse_args() assert args.image_folder or args.video_path, \ @@ -272,11 +285,24 @@ def main(): # ── Load images & model ────────────────────────────────────────────────── t0 = time.time() - images, paths = load_images( + images, paths, resolved_image_folder = load_images( image_folder=args.image_folder, video_path=args.video_path, fps=args.fps, first_k=args.first_k, stride=args.stride, image_size=args.image_size, patch_size=args.patch_size, ) + + # Export preprocessed images if requested + if args.export_preprocessed: + os.makedirs(args.export_preprocessed, exist_ok=True) + print(f"Exporting {images.shape[0]} preprocessed images to {args.export_preprocessed}...") + for i in range(images.shape[0]): + img = (images[i].permute(1, 2, 0).numpy() * 255).clip(0, 255).astype(np.uint8) + cv2.imwrite( + os.path.join(args.export_preprocessed, f"{i:06d}.png"), + cv2.cvtColor(img, cv2.COLOR_RGB2BGR), + ) + print(f"Exported to {args.export_preprocessed}") + model = load_model(args, device) print(f"Total load time: {time.time() - t0:.1f}s") @@ -330,6 +356,9 @@ def main(): downsample_factor=args.downsample_factor, point_size=args.point_size, mask_sky=args.mask_sky, + image_folder=resolved_image_folder, + sky_mask_dir=args.sky_mask_dir, + sky_mask_visualization_dir=args.sky_mask_visualization_dir, ) print(f"3D viewer at http://localhost:{args.port}") viewer.run() 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