vismatch 1.1.1__py3-none-any.whl

vismatch/third_party/duster/croco/pretrain.py

@@ -0,0 +1,254 @@
+# Copyright (C) 2022-present Naver Corporation. All rights reserved.
+# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
+# 
+# --------------------------------------------------------
+# Pre-training CroCo 
+# --------------------------------------------------------
+# References:
+# MAE: https://github.com/facebookresearch/mae
+# DeiT: https://github.com/facebookresearch/deit
+# BEiT: https://github.com/microsoft/unilm/tree/master/beit
+# --------------------------------------------------------
+import argparse
+import datetime
+import json
+import numpy as np
+import os
+import sys
+import time
+import math 
+from pathlib import Path
+from typing import Iterable
+
+import torch
+import torch.distributed as dist
+import torch.backends.cudnn as cudnn
+from torch.utils.tensorboard import SummaryWriter
+import torchvision.transforms as transforms
+import torchvision.datasets as datasets
+
+import utils.misc as misc
+from utils.misc import NativeScalerWithGradNormCount as NativeScaler
+from models.croco import CroCoNet
+from models.criterion import MaskedMSE
+from datasets.pairs_dataset import PairsDataset
+
+
+def get_args_parser():
+    parser = argparse.ArgumentParser('CroCo pre-training', add_help=False)
+    # model and criterion
+    parser.add_argument('--model', default='CroCoNet()', type=str, help="string containing the model to build")
+    parser.add_argument('--norm_pix_loss', default=1, choices=[0,1], help="apply per-patch mean/std normalization before applying the loss")
+    # dataset 
+    parser.add_argument('--dataset', default='habitat_release', type=str, help="training set")
+    parser.add_argument('--transforms', default='crop224+acolor', type=str, help="transforms to apply") # in the paper, we also use some homography and rotation, but find later that they were not useful or even harmful
+    # training 
+    parser.add_argument('--seed', default=0, type=int, help="Random seed")
+    parser.add_argument('--batch_size', default=64, type=int, help="Batch size per GPU (effective batch size is batch_size * accum_iter * # gpus")
+    parser.add_argument('--epochs', default=800, type=int, help="Maximum number of epochs for the scheduler")
+    parser.add_argument('--max_epoch', default=400, type=int, help="Stop training at this epoch")
+    parser.add_argument('--accum_iter', default=1, type=int, help="Accumulate gradient iterations (for increasing the effective batch size under memory constraints)")
+    parser.add_argument('--weight_decay', type=float, default=0.05, help="weight decay (default: 0.05)")
+    parser.add_argument('--lr', type=float, default=None, metavar='LR', help='learning rate (absolute lr)')
+    parser.add_argument('--blr', type=float, default=1.5e-4, metavar='LR', help='base learning rate: absolute_lr = base_lr * total_batch_size / 256')
+    parser.add_argument('--min_lr', type=float, default=0., metavar='LR', help='lower lr bound for cyclic schedulers that hit 0')
+    parser.add_argument('--warmup_epochs', type=int, default=40, metavar='N', help='epochs to warmup LR')              
+    parser.add_argument('--amp', type=int, default=1, choices=[0,1], help="Use Automatic Mixed Precision for pretraining")
+    # others 
+    parser.add_argument('--num_workers', default=8, type=int)
+    parser.add_argument('--world_size', default=1, type=int, help='number of distributed processes')
+    parser.add_argument('--local_rank', default=-1, type=int)
+    parser.add_argument('--dist_url', default='env://', help='url used to set up distributed training')
+    parser.add_argument('--save_freq', default=1, type=int, help='frequence (number of epochs) to save checkpoint in checkpoint-last.pth')
+    parser.add_argument('--keep_freq', default=20, type=int, help='frequence (number of epochs) to save checkpoint in checkpoint-%d.pth')
+    parser.add_argument('--print_freq', default=20, type=int, help='frequence (number of iterations) to print infos while training')
+    # paths 
+    parser.add_argument('--output_dir', default='./output/', type=str, help="path where to save the output")
+    parser.add_argument('--data_dir', default='./data/', type=str, help="path where data are stored")
+    return parser
+
+
+
+        
+def main(args):
+    misc.init_distributed_mode(args)
+    global_rank = misc.get_rank()
+    world_size = misc.get_world_size()
+    
+    print("output_dir: "+args.output_dir)
+    if args.output_dir:
+        Path(args.output_dir).mkdir(parents=True, exist_ok=True)                         
+
+    # auto resume 
+    last_ckpt_fname = os.path.join(args.output_dir, f'checkpoint-last.pth')
+    args.resume = last_ckpt_fname if os.path.isfile(last_ckpt_fname) else None
+
+    print('job dir: {}'.format(os.path.dirname(os.path.realpath(__file__))))
+    print("{}".format(args).replace(', ', ',\n'))
+
+    device = "cuda" if torch.cuda.is_available() else "cpu"
+    device = torch.device(device)
+
+    # fix the seed
+    seed = args.seed + misc.get_rank()
+    torch.manual_seed(seed)
+    np.random.seed(seed)
+
+    cudnn.benchmark = True
+
+    ## training dataset and loader 
+    print('Building dataset for {:s} with transforms {:s}'.format(args.dataset, args.transforms))
+    dataset = PairsDataset(args.dataset, trfs=args.transforms, data_dir=args.data_dir)
+    if world_size>1:
+        sampler_train = torch.utils.data.DistributedSampler(
+            dataset, num_replicas=world_size, rank=global_rank, shuffle=True
+        )
+        print("Sampler_train = %s" % str(sampler_train))
+    else:
+        sampler_train = torch.utils.data.RandomSampler(dataset)
+    data_loader_train = torch.utils.data.DataLoader(
+        dataset, sampler=sampler_train,
+        batch_size=args.batch_size,
+        num_workers=args.num_workers,
+        pin_memory=True,
+        drop_last=True,
+    )
+   
+    ## model 
+    print('Loading model: {:s}'.format(args.model))
+    model = eval(args.model)
+    print('Loading criterion: MaskedMSE(norm_pix_loss={:s})'.format(str(bool(args.norm_pix_loss))))
+    criterion = MaskedMSE(norm_pix_loss=bool(args.norm_pix_loss))
+   
+    model.to(device)
+    model_without_ddp = model
+    print("Model = %s" % str(model_without_ddp))
+
+    eff_batch_size = args.batch_size * args.accum_iter * misc.get_world_size()
+    if args.lr is None:  # only base_lr is specified
+        args.lr = args.blr * eff_batch_size / 256
+    print("base lr: %.2e" % (args.lr * 256 / eff_batch_size))
+    print("actual lr: %.2e" % args.lr)
+    print("accumulate grad iterations: %d" % args.accum_iter)
+    print("effective batch size: %d" % eff_batch_size)
+
+    if args.distributed:
+        model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[args.gpu], find_unused_parameters=True, static_graph=True)
+        model_without_ddp = model.module
+    
+    param_groups = misc.get_parameter_groups(model_without_ddp, args.weight_decay) # following timm: set wd as 0 for bias and norm layers
+    optimizer = torch.optim.AdamW(param_groups, lr=args.lr, betas=(0.9, 0.95))
+    print(optimizer)
+    loss_scaler = NativeScaler()
+
+    misc.load_model(args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler)
+
+    if global_rank == 0 and args.output_dir is not None:
+        log_writer = SummaryWriter(log_dir=args.output_dir)
+    else:
+        log_writer = None
+
+    print(f"Start training until {args.max_epoch} epochs")
+    start_time = time.time()
+    for epoch in range(args.start_epoch, args.max_epoch):
+        if world_size>1:
+            data_loader_train.sampler.set_epoch(epoch)
+            
+        train_stats = train_one_epoch(
+            model, criterion, data_loader_train,
+            optimizer, device, epoch, loss_scaler,
+            log_writer=log_writer,
+            args=args
+        )
+        
+        if args.output_dir and epoch % args.save_freq == 0 :
+            misc.save_model(
+                args=args, model_without_ddp=model_without_ddp, optimizer=optimizer,
+                loss_scaler=loss_scaler, epoch=epoch, fname='last')
+                
+        if args.output_dir and (epoch % args.keep_freq == 0 or epoch + 1 == args.max_epoch) and (epoch>0 or args.max_epoch==1):
+            misc.save_model(
+                args=args, model_without_ddp=model_without_ddp, optimizer=optimizer,
+                loss_scaler=loss_scaler, epoch=epoch)
+
+        log_stats = {**{f'train_{k}': v for k, v in train_stats.items()},
+                        'epoch': epoch,}
+
+        if args.output_dir and misc.is_main_process():
+            if log_writer is not None:
+                log_writer.flush()
+            with open(os.path.join(args.output_dir, "log.txt"), mode="a", encoding="utf-8") as f:
+                f.write(json.dumps(log_stats) + "\n")
+
+    total_time = time.time() - start_time
+    total_time_str = str(datetime.timedelta(seconds=int(total_time)))
+    print('Training time {}'.format(total_time_str))
+
+
+
+
+def train_one_epoch(model: torch.nn.Module, criterion: torch.nn.Module,
+                    data_loader: Iterable, optimizer: torch.optim.Optimizer,
+                    device: torch.device, epoch: int, loss_scaler,
+                    log_writer=None,
+                    args=None):
+    model.train(True)
+    metric_logger = misc.MetricLogger(delimiter="  ")
+    metric_logger.add_meter('lr', misc.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    header = 'Epoch: [{}]'.format(epoch)
+    accum_iter = args.accum_iter
+
+    optimizer.zero_grad()
+
+    if log_writer is not None:
+        print('log_dir: {}'.format(log_writer.log_dir))
+
+    for data_iter_step, (image1, image2) in enumerate(metric_logger.log_every(data_loader, args.print_freq, header)):
+
+        # we use a per iteration  lr scheduler
+        if data_iter_step % accum_iter == 0:
+            misc.adjust_learning_rate(optimizer, data_iter_step / len(data_loader) + epoch, args)
+
+        image1 = image1.to(device, non_blocking=True) 
+        image2 = image2.to(device, non_blocking=True)
+        with torch.cuda.amp.autocast(enabled=bool(args.amp)):
+            out, mask, target = model(image1, image2)
+            loss = criterion(out, mask, target)
+
+        loss_value = loss.item()
+
+        if not math.isfinite(loss_value):
+            print("Loss is {}, stopping training".format(loss_value))
+            sys.exit(1)
+
+        loss /= accum_iter
+        loss_scaler(loss, optimizer, parameters=model.parameters(),
+                    update_grad=(data_iter_step + 1) % accum_iter == 0)
+        if (data_iter_step + 1) % accum_iter == 0:
+            optimizer.zero_grad()
+
+        torch.cuda.synchronize()
+
+        metric_logger.update(loss=loss_value)
+
+        lr = optimizer.param_groups[0]["lr"]
+        metric_logger.update(lr=lr)
+
+        loss_value_reduce = misc.all_reduce_mean(loss_value)
+        if log_writer is not None and ((data_iter_step + 1) % (accum_iter*args.print_freq)) == 0:
+            # x-axis is based on epoch_1000x in the tensorboard, calibrating differences curves when batch size changes 
+            epoch_1000x = int((data_iter_step / len(data_loader) + epoch) * 1000)
+            log_writer.add_scalar('train_loss', loss_value_reduce, epoch_1000x)
+            log_writer.add_scalar('lr', lr, epoch_1000x)
+
+    # gather the stats from all processes
+    metric_logger.synchronize_between_processes()
+    print("Averaged stats:", metric_logger)
+    return {k: meter.global_avg for k, meter in metric_logger.meters.items()}
+    
+    
+
+if __name__ == '__main__':
+    args = get_args_parser()
+    args = args.parse_args()
+    main(args)

vismatch/third_party/duster/croco/stereoflow/augmentor.py

@@ -0,0 +1,290 @@
+# Copyright (C) 2022-present Naver Corporation. All rights reserved.
+# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
+
+# --------------------------------------------------------
+# Data augmentation for training stereo and flow
+# --------------------------------------------------------
+
+# References
+# https://github.com/autonomousvision/unimatch/blob/master/dataloader/stereo/transforms.py
+# https://github.com/autonomousvision/unimatch/blob/master/dataloader/flow/transforms.py
+
+
+import numpy as np
+import random
+from PIL import Image
+
+import cv2
+cv2.setNumThreads(0)
+cv2.ocl.setUseOpenCL(False)
+
+import torch
+from torchvision.transforms import ColorJitter
+import torchvision.transforms.functional as FF
+
+class StereoAugmentor(object):
+
+    def __init__(self, crop_size, scale_prob=0.5, scale_xonly=True, lhth=800., lminscale=0.0, lmaxscale=1.0, hminscale=-0.2, hmaxscale=0.4, scale_interp_nearest=True, rightjitterprob=0.5, v_flip_prob=0.5, color_aug_asym=True, color_choice_prob=0.5):
+        self.crop_size = crop_size
+        self.scale_prob = scale_prob
+        self.scale_xonly = scale_xonly
+        self.lhth = lhth
+        self.lminscale = lminscale
+        self.lmaxscale = lmaxscale
+        self.hminscale = hminscale
+        self.hmaxscale = hmaxscale
+        self.scale_interp_nearest = scale_interp_nearest
+        self.rightjitterprob = rightjitterprob
+        self.v_flip_prob = v_flip_prob
+        self.color_aug_asym = color_aug_asym
+        self.color_choice_prob = color_choice_prob
+        
+    def _random_scale(self, img1, img2, disp):
+        ch,cw = self.crop_size
+        h,w = img1.shape[:2]
+        if self.scale_prob>0. and np.random.rand()<self.scale_prob:
+            min_scale, max_scale = (self.lminscale,self.lmaxscale) if min(h,w) < self.lhth else (self.hminscale,self.hmaxscale)
+            scale_x = 2. ** np.random.uniform(min_scale, max_scale)
+            scale_x = np.clip(scale_x, (cw+8) / float(w), None)
+            scale_y = 1.
+            if not self.scale_xonly:
+                scale_y = scale_x
+                scale_y = np.clip(scale_y, (ch+8) / float(h), None)
+            img1 = cv2.resize(img1, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+            img2 = cv2.resize(img2, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+            disp = cv2.resize(disp, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR if not self.scale_interp_nearest else cv2.INTER_NEAREST) * scale_x
+        else: # check if we need to resize to be able to crop 
+            h,w = img1.shape[:2]
+            clip_scale = (cw+8) / float(w)
+            if clip_scale>1.:
+                scale_x = clip_scale
+                scale_y = scale_x if not self.scale_xonly else 1.0
+                img1 = cv2.resize(img1, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+                img2 = cv2.resize(img2, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+                disp = cv2.resize(disp, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR if not self.scale_interp_nearest else cv2.INTER_NEAREST) * scale_x
+        return img1, img2, disp 
+                
+    def _random_crop(self, img1, img2, disp): 
+        h,w = img1.shape[:2]
+        ch,cw = self.crop_size
+        assert ch<=h and cw<=w, (img1.shape, h,w,ch,cw)
+        offset_x = np.random.randint(w - cw + 1)
+        offset_y = np.random.randint(h - ch + 1)
+        img1 = img1[offset_y:offset_y+ch,offset_x:offset_x+cw]
+        img2 = img2[offset_y:offset_y+ch,offset_x:offset_x+cw]
+        disp = disp[offset_y:offset_y+ch,offset_x:offset_x+cw]
+        return img1, img2, disp
+    
+    def _random_vflip(self, img1, img2, disp):
+        # vertical flip
+        if self.v_flip_prob>0 and np.random.rand() < self.v_flip_prob:
+            img1 = np.copy(np.flipud(img1))
+            img2 = np.copy(np.flipud(img2))
+            disp = np.copy(np.flipud(disp))
+        return img1, img2, disp
+        
+    def _random_rotate_shift_right(self, img2):
+        if self.rightjitterprob>0. and np.random.rand()<self.rightjitterprob:
+            angle, pixel = 0.1, 2
+            px = np.random.uniform(-pixel, pixel)
+            ag = np.random.uniform(-angle, angle)
+            image_center = (np.random.uniform(0, img2.shape[0]), np.random.uniform(0, img2.shape[1])  )
+            rot_mat = cv2.getRotationMatrix2D(image_center, ag, 1.0)
+            img2 = cv2.warpAffine(img2, rot_mat, img2.shape[1::-1], flags=cv2.INTER_LINEAR)
+            trans_mat = np.float32([[1, 0, 0], [0, 1, px]])
+            img2 = cv2.warpAffine(img2, trans_mat, img2.shape[1::-1], flags=cv2.INTER_LINEAR)
+        return img2
+            
+    def _random_color_contrast(self, img1, img2):
+        if np.random.random() < 0.5:
+            contrast_factor = np.random.uniform(0.8, 1.2)
+            img1 = FF.adjust_contrast(img1, contrast_factor)
+            if self.color_aug_asym and np.random.random() < 0.5: contrast_factor = np.random.uniform(0.8, 1.2)
+            img2 = FF.adjust_contrast(img2, contrast_factor)
+        return img1, img2
+    def _random_color_gamma(self, img1, img2):
+        if np.random.random() < 0.5:
+            gamma = np.random.uniform(0.7, 1.5)
+            img1 = FF.adjust_gamma(img1, gamma)
+            if self.color_aug_asym and np.random.random() < 0.5: gamma = np.random.uniform(0.7, 1.5)
+            img2 = FF.adjust_gamma(img2, gamma)
+        return img1, img2
+    def _random_color_brightness(self, img1, img2):
+        if np.random.random() < 0.5:
+            brightness = np.random.uniform(0.5, 2.0)
+            img1 = FF.adjust_brightness(img1, brightness)
+            if self.color_aug_asym and np.random.random() < 0.5: brightness = np.random.uniform(0.5, 2.0)
+            img2 = FF.adjust_brightness(img2, brightness)
+        return img1, img2
+    def _random_color_hue(self, img1, img2):
+        if np.random.random() < 0.5:
+            hue = np.random.uniform(-0.1, 0.1)
+            img1 = FF.adjust_hue(img1, hue)
+            if self.color_aug_asym and np.random.random() < 0.5: hue = np.random.uniform(-0.1, 0.1)
+            img2 = FF.adjust_hue(img2, hue)
+        return img1, img2
+    def _random_color_saturation(self, img1, img2):
+        if np.random.random() < 0.5:
+            saturation = np.random.uniform(0.8, 1.2)
+            img1 = FF.adjust_saturation(img1, saturation)
+            if self.color_aug_asym and np.random.random() < 0.5: saturation = np.random.uniform(-0.8,1.2)
+            img2 = FF.adjust_saturation(img2, saturation)
+        return img1, img2   
+    def _random_color(self, img1, img2):
+        trfs = [self._random_color_contrast,self._random_color_gamma,self._random_color_brightness,self._random_color_hue,self._random_color_saturation]
+        img1 = Image.fromarray(img1.astype('uint8'))
+        img2 = Image.fromarray(img2.astype('uint8'))
+        if np.random.random() < self.color_choice_prob:
+            # A single transform
+            t = random.choice(trfs)
+            img1, img2 = t(img1, img2)
+        else:
+            # Combination of trfs
+            # Random order
+            random.shuffle(trfs)
+            for t in trfs:
+                img1, img2 = t(img1, img2)
+        img1 = np.array(img1).astype(np.float32)
+        img2 = np.array(img2).astype(np.float32)
+        return img1, img2
+                    
+    def __call__(self, img1, img2, disp, dataset_name):
+        img1, img2, disp = self._random_scale(img1, img2, disp)
+        img1, img2, disp = self._random_crop(img1, img2, disp)
+        img1, img2, disp = self._random_vflip(img1, img2, disp)
+        img2 = self._random_rotate_shift_right(img2)
+        img1, img2 = self._random_color(img1, img2)
+        return img1, img2, disp
+
+
+
+class FlowAugmentor:
+
+    def __init__(self, crop_size, min_scale=-0.2, max_scale=0.5, spatial_aug_prob=0.8, stretch_prob=0.8, max_stretch=0.2, h_flip_prob=0.5, v_flip_prob=0.1, asymmetric_color_aug_prob=0.2):
+    
+        # spatial augmentation params
+        self.crop_size = crop_size
+        self.min_scale = min_scale
+        self.max_scale = max_scale
+        self.spatial_aug_prob = spatial_aug_prob
+        self.stretch_prob = stretch_prob
+        self.max_stretch = max_stretch
+
+        # flip augmentation params
+        self.h_flip_prob = h_flip_prob
+        self.v_flip_prob = v_flip_prob
+
+        # photometric augmentation params
+        self.photo_aug = ColorJitter(brightness=0.4, contrast=0.4, saturation=0.4, hue=0.5 / 3.14)
+
+        self.asymmetric_color_aug_prob = asymmetric_color_aug_prob
+        
+    def color_transform(self, img1, img2):
+        """ Photometric augmentation """
+
+        # asymmetric
+        if np.random.rand() < self.asymmetric_color_aug_prob:
+            img1 = np.array(self.photo_aug(Image.fromarray(img1)), dtype=np.uint8)
+            img2 = np.array(self.photo_aug(Image.fromarray(img2)), dtype=np.uint8)
+
+        # symmetric
+        else:
+            image_stack = np.concatenate([img1, img2], axis=0)
+            image_stack = np.array(self.photo_aug(Image.fromarray(image_stack)), dtype=np.uint8)
+            img1, img2 = np.split(image_stack, 2, axis=0)
+
+        return img1, img2
+
+    def _resize_flow(self, flow, scale_x, scale_y, factor=1.0):
+        if np.all(np.isfinite(flow)):
+            flow = cv2.resize(flow, None, fx=scale_x/factor, fy=scale_y/factor, interpolation=cv2.INTER_LINEAR)
+            flow = flow * [scale_x, scale_y]
+        else: # sparse version
+            fx, fy = scale_x, scale_y
+            ht, wd = flow.shape[:2]
+            coords = np.meshgrid(np.arange(wd), np.arange(ht))
+            coords = np.stack(coords, axis=-1)
+
+            coords = coords.reshape(-1, 2).astype(np.float32)
+            flow = flow.reshape(-1, 2).astype(np.float32)
+            valid = np.isfinite(flow[:,0])
+
+            coords0 = coords[valid]
+            flow0 = flow[valid]
+
+            ht1 = int(round(ht * fy/factor))
+            wd1 = int(round(wd * fx/factor))
+            
+            rescale = np.expand_dims(np.array([fx, fy]), axis=0)
+            coords1 = coords0 * rescale / factor
+            flow1 = flow0 * rescale
+
+            xx = np.round(coords1[:, 0]).astype(np.int32)
+            yy = np.round(coords1[:, 1]).astype(np.int32)
+
+            v = (xx > 0) & (xx < wd1) & (yy > 0) & (yy < ht1)
+            xx = xx[v]
+            yy = yy[v]
+            flow1 = flow1[v]
+
+            flow = np.inf * np.ones([ht1, wd1, 2], dtype=np.float32) # invalid value every where, before we fill it with the correct ones
+            flow[yy, xx] = flow1
+        return flow
+        
+    def spatial_transform(self, img1, img2, flow, dname):
+    
+        if np.random.rand() < self.spatial_aug_prob:
+            # randomly sample scale
+            ht, wd = img1.shape[:2]
+            clip_min_scale = np.maximum(
+                (self.crop_size[0] + 8) / float(ht),
+                (self.crop_size[1] + 8) / float(wd))
+            min_scale, max_scale = self.min_scale, self.max_scale
+            scale = 2 ** np.random.uniform(self.min_scale, self.max_scale)
+            scale_x = scale
+            scale_y = scale
+            if np.random.rand() < self.stretch_prob:
+                scale_x *= 2 ** np.random.uniform(-self.max_stretch, self.max_stretch)
+                scale_y *= 2 ** np.random.uniform(-self.max_stretch, self.max_stretch)
+            scale_x = np.clip(scale_x, clip_min_scale, None)
+            scale_y = np.clip(scale_y, clip_min_scale, None)
+            # rescale the images
+            img1 = cv2.resize(img1, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+            img2 = cv2.resize(img2, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR)
+            flow = self._resize_flow(flow, scale_x, scale_y, factor=2.0 if dname=='Spring' else 1.0)
+        elif dname=="Spring":
+            flow = self._resize_flow(flow, 1.0, 1.0, factor=2.0)
+
+        if self.h_flip_prob>0. and np.random.rand() < self.h_flip_prob:  # h-flip
+            img1 = img1[:, ::-1]
+            img2 = img2[:, ::-1]
+            flow = flow[:, ::-1] * [-1.0, 1.0]
+
+        if self.v_flip_prob>0. and np.random.rand() < self.v_flip_prob:  # v-flip
+            img1 = img1[::-1, :]
+            img2 = img2[::-1, :]
+            flow = flow[::-1, :] * [1.0, -1.0]
+                
+        # In case no cropping
+        if img1.shape[0] - self.crop_size[0] > 0:
+            y0 = np.random.randint(0, img1.shape[0] - self.crop_size[0])
+        else:
+            y0 = 0
+        if img1.shape[1] - self.crop_size[1] > 0:
+            x0 = np.random.randint(0, img1.shape[1] - self.crop_size[1])
+        else:
+            x0 = 0
+
+        img1 = img1[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]]
+        img2 = img2[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]]
+        flow = flow[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]]
+
+        return img1, img2, flow
+
+    def __call__(self, img1, img2, flow, dname):
+        img1, img2, flow = self.spatial_transform(img1, img2, flow, dname)
+        img1, img2 = self.color_transform(img1, img2)
+        img1 = np.ascontiguousarray(img1)
+        img2 = np.ascontiguousarray(img2)
+        flow = np.ascontiguousarray(flow)
+        return img1, img2, flow