Something wrong when trying to reimplement adaptive loss with mono depth estimation

[hagianga21]

Hi, I am trying to reimplement Unsupervised Learning of Depth and Ego-Motion from Video with Adaptive Loss function. The pytorch code for Sfm Learner from https://github.com/ClementPinard/SfmLearner-Pytorch

if you take a look at their photometric_reconstruction_loss from the file loss_function.py as the following:

def photometric_reconstruction_loss(tgt_img, ref_imgs, intrinsics,
                                    depth, explainability_mask, pose,
                                    rotation_mode='euler', padding_mode='zeros'):
    def one_scale(depth, explainability_mask):
        assert(explainability_mask is None or depth.size()[2:] == explainability_mask.size()[2:])
        assert(pose.size(1) == len(ref_imgs))

        reconstruction_loss = 0
        b, _, h, w = depth.size()
        downscale = tgt_img.size(2)/h

        tgt_img_scaled = F.interpolate(tgt_img, (h, w), mode='area')
        ref_imgs_scaled = [F.interpolate(ref_img, (h, w), mode='area') for ref_img in ref_imgs]
        intrinsics_scaled = torch.cat((intrinsics[:, 0:2]/downscale, intrinsics[:, 2:]), dim=1)

        warped_imgs = []
        diff_maps = []

        for i, ref_img in enumerate(ref_imgs_scaled):
            current_pose = pose[:, i]

            ref_img_warped, valid_points = inverse_warp(ref_img, depth[:,0], current_pose,
                                                        intrinsics_scaled,
                                                        rotation_mode, padding_mode)
            diff = (tgt_img_scaled - ref_img_warped) * valid_points.unsqueeze(1).float()

            if explainability_mask is not None:
                diff = diff * explainability_mask[:,i:i+1].expand_as(diff)

            reconstruction_loss += diff.abs().mean()
            assert((reconstruction_loss == reconstruction_loss).item() == 1)

            warped_imgs.append(ref_img_warped[0])
            diff_maps.append(diff[0])

        return reconstruction_loss, warped_imgs, diff_maps

    warped_results, diff_results = [], []
    if type(explainability_mask) not in [tuple, list]:
        explainability_mask = [explainability_mask]
    if type(depth) not in [list, tuple]:
        depth = [depth]

    total_loss = 0
    for d, mask in zip(depth, explainability_mask):
        loss, warped, diff = one_scale(d, mask)
        total_loss += loss
        warped_results.append(warped)
        diff_results.append(diff)
    return total_loss, warped_results, diff_results

To use the adaptive loss function, I implement as the following (change the absolute with your loss function):

def photometric_reconstruction_loss(tgt_img, ref_imgs, intrinsics,
                                    depth, explainability_mask, pose,
                                    rotation_mode='euler', padding_mode='zeros'):
    def one_scale(depth, explainability_mask):
        assert(explainability_mask is None or depth.size()[2:] == explainability_mask.size()[2:])
        assert(pose.size(1) == len(ref_imgs))

        reconstruction_loss = 0
        b, _, h, w = depth.size()
        downscale = tgt_img.size(2)/h

        tgt_img_scaled = F.interpolate(tgt_img, (h, w), mode='area')
        ref_imgs_scaled = [F.interpolate(ref_img, (h, w), mode='area') for ref_img in ref_imgs]
        intrinsics_scaled = torch.cat((intrinsics[:, 0:2]/downscale, intrinsics[:, 2:]), dim=1)

        warped_imgs = []
        diff_maps = []

        for i, ref_img in enumerate(ref_imgs_scaled):
            adaptive = AdaptiveImageLossFunction(image_size = (ref_img.shape[3], ref_img.shape[2], ref_img.shape[1]), float_dtype=torch.float32, device='cuda:0', color_space='RGB', representation='PIXEL')
            current_pose = pose[:, i]

            ref_img_warped, valid_points = inverse_warp(ref_img, depth[:,0], current_pose,
                                                        intrinsics_scaled,
                                                        rotation_mode, padding_mode)
            diff = (tgt_img_scaled - ref_img_warped) * valid_points.unsqueeze(1).float()

            if explainability_mask is not None:
                diff = diff * explainability_mask[:,i:i+1].expand_as(diff)

            #Original loss
            #reconstruction_loss += diff.abs().mean()
            # Try my loss
            diff_temp = diff.permute(0, 3, 2, 1)
            reconstruction_loss += adaptive.lossfun(diff_temp).mean()
            assert((reconstruction_loss == reconstruction_loss).item() == 1)

            warped_imgs.append(ref_img_warped[0])
            diff_maps.append(diff[0])

        return reconstruction_loss, warped_imgs, diff_maps

    warped_results, diff_results = [], []
    if type(explainability_mask) not in [tuple, list]:
        explainability_mask = [explainability_mask]
    if type(depth) not in [list, tuple]:
        depth = [depth]

    total_loss = 0
    for d, mask in zip(depth, explainability_mask):
        loss, warped, diff = one_scale(d, mask)
        total_loss += loss
        warped_results.append(warped)
        diff_results.append(diff)
    return total_loss, warped_results, diff_results

However, the loss seems always stuck at around 9.5787 and has no signal for convergence. Could you have any suggestions for the implementation? Thanks so much

[jonbarron]

Sorry, I don't know how to help, I've never used pytorch outside of writing this one repository.