app.py

import gradio as gr
from matplotlib import pyplot as plt
from mapper.utils.io import read_image
from mapper.utils.exif import EXIF
from mapper.utils.wrappers import Camera
from mapper.data.image import rectify_image, pad_image, resize_image
from mapper.utils.viz_2d import one_hot_argmax_to_rgb, plot_images
from mapper.module import GenericModule
from perspective2d import PerspectiveFields
import torch
import numpy as np
from typing import Optional, Tuple
from omegaconf import OmegaConf

description = """
<h1 align="center">
  <ins>MapItAnywhere (MIA) </ins>
  <br>
  Empowering Bird’s Eye View Mapping using Large-scale Public Data
  <br>
<h3 align="center">
    <a href="https://mapitanywhere.github.io" target="_blank">Project Page</a> |
    <a href="https://arxiv.org/abs/2109.08203" target="_blank">Paper</a> |
    <a href="https://github.com/MapItAnywhere/MapItAnywhere" target="_blank">Code</a>
</h3>
<p align="center">
Mapper generates birds-eye-view maps from in-the-wild monocular first-person view images. You can try our demo by uploading your images or using the examples provided. Tip: You can also try out images across the world using <a href="https://www.mapillary.com/app" target="_blank">Mapillary</a> &#128521; Also try out some examples that are taken in cities we have not trained on!
</p>
"""

device = torch.device("cuda" if torch.cuda.is_available() else "cpu")

cfg = OmegaConf.load("config.yaml")

class ImageCalibrator(PerspectiveFields):
    def __init__(self, version: str = "Paramnet-360Cities-edina-centered"):
        super().__init__(version)
        self.eval()

    def run(
        self,
        image_rgb: np.ndarray,
        focal_length: Optional[float] = None,
        exif: Optional[EXIF] = None,
    ) -> Tuple[Tuple[float, float], Camera]:
        h, w, *_ = image_rgb.shape
        if focal_length is None and exif is not None:
            _, focal_ratio = exif.extract_focal()
            if focal_ratio != 0:
                focal_length = focal_ratio * max(h, w)
        calib = self.inference(img_bgr=image_rgb[..., ::-1])
        roll_pitch = (calib["pred_roll"].item(), calib["pred_pitch"].item())
        if focal_length is None:
            vfov = calib["pred_vfov"].item()
            focal_length = h / 2 / np.tan(np.deg2rad(vfov) / 2)

        camera = Camera.from_dict(
            {
                "model": "SIMPLE_PINHOLE",
                "width": w,
                "height": h,
                "params": [focal_length, w / 2 + 0.5, h / 2 + 0.5],
            }
        )
        return roll_pitch, camera

def preprocess_pipeline(image, roll_pitch, camera):
    image = torch.from_numpy(image).float() / 255
    image = image.permute(2, 0, 1).to(device)
    camera = camera.to(device)

    image, valid = rectify_image(image, camera.float(), -roll_pitch[0], -roll_pitch[1])

    roll_pitch *= 0

    image, _, camera, valid = resize_image(
        image=image,
        size=512,
        camera=camera,
        fn=max,
        valid=valid
    )

    # image, valid, camera = pad_image(
    #     image, 512, camera, valid
    # )

    camera = torch.stack([camera])

    return {
        "image": image.unsqueeze(0).to(device),
        "valid": valid.unsqueeze(0).to(device),
        "camera": camera.float().to(device),
    }


calibrator = ImageCalibrator().to(device)
model = GenericModule(cfg)
model = model.load_from_checkpoint("trained_weights/mapper-excl-ood.ckpt", strict=False, cfg=cfg)
model = model.to(device)
model = model.eval()

def run(input_img):
    image_path = input_img.name

    image = read_image(image_path)
    with open(image_path, "rb") as fid:
        exif = EXIF(fid, lambda: image.shape[:2])

    gravity, camera = calibrator.run(image, exif=exif)

    data = preprocess_pipeline(image, gravity, camera)
    res = model(data)
    
    prediction = res['output']
    rgb_prediction = one_hot_argmax_to_rgb(prediction, 6).squeeze(0).permute(1, 2, 0).cpu().long().numpy()
    valid = res['valid_bev'].squeeze(0)[..., :-1]
    rgb_prediction[~valid.cpu().numpy()] = 255
    
     # TODO: add legend here

    plot_images([image, rgb_prediction], titles=["Input Image", "Top-Down Prediction"], pad=2, adaptive=True)

    return plt.gcf()


examples = [
    ["examples/left_crossing.jpg"],
    ["examples/crossing.jpg"],
    ["examples/two_roads.jpg"],
    ["examples/japan_narrow_road.jpeg"],
    ["examples/zurich_crossing.jpg"],
    ["examples/night_road.jpg"],
    ["examples/night_crossing.jpg"],
]

demo = gr.Interface(
    fn=run,
    inputs=[
        gr.File(file_types=["image"], label="Input Image")
    ], 
    outputs=[
        gr.Plot(label="Prediction", format="png"),
    ],
    description=description,
    examples=examples)
demo.launch(share=True, server_name="0.0.0.0")