[fbsync] Add raft_stereo weights (#6786)

Summary:
* Add raft_stereo weights

* Update the metrics layout

Reviewed By: YosuaMichael

Differential Revision: D40588172

fbshipit-source-id: 32c56534abc6f71effcf25ff11f906306cec34fe

Author: Joao Gomes

torchvision/prototype/models/depth/stereo/raft_stereo.py

@@ -1,15 +1,17 @@
+from functools import partial
 from typing import Callable, List, Optional, Tuple
 
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
 import torchvision.models.optical_flow.raft as raft
 from torch import Tensor
-from torchvision.models._api import register_model, WeightsEnum
+from torchvision.models._api import register_model, Weights, WeightsEnum
 from torchvision.models._utils import handle_legacy_interface
 from torchvision.models.optical_flow._utils import grid_sample, make_coords_grid, upsample_flow
 from torchvision.models.optical_flow.raft import FlowHead, MotionEncoder, ResidualBlock
 from torchvision.ops import Conv2dNormActivation
+from torchvision.prototype.transforms._presets import StereoMatching
 from torchvision.utils import _log_api_usage_once
 
 
@@ -624,11 +626,97 @@ def _raft_stereo(
 
 
 class Raft_Stereo_Realtime_Weights(WeightsEnum):
-    pass
+    SCENEFLOW_V1 = Weights(
+        # Weights ported from https://github.com/princeton-vl/RAFT-Stereo
+        url="https://download.pytorch.org/models/raft_stereo_realtime-cf345ccb.pth",
+        transforms=partial(StereoMatching, resize_size=(224, 224)),
+        meta={
+            "num_params": 8077152,
+            "recipe": "https://github.com/princeton-vl/RAFT-Stereo",
+            "_metrics": {
+                # Following metrics from paper: https://arxiv.org/abs/2109.07547
+                "Kitty2015": {
+                    "3px": 0.9409,
+                }
+            },
+        },
+    )
+
+    DEFAULT = SCENEFLOW_V1
 
 
 class Raft_Stereo_Base_Weights(WeightsEnum):
-    pass
+    SCENEFLOW_V1 = Weights(
+        # Weights ported from https://github.com/princeton-vl/RAFT-Stereo
+        url="https://download.pytorch.org/models/raft_stereo_base_sceneflow-eff3f2e6.pth",
+        transforms=partial(StereoMatching, resize_size=(224, 224)),
+        meta={
+            "num_params": 11116176,
+            "recipe": "https://github.com/princeton-vl/RAFT-Stereo",
+            "_metrics": {
+                # Following metrics from paper: https://arxiv.org/abs/2109.07547
+                # Using standard metrics for each datasets
+                "Kitty2015": {
+                    # Ratio of pixels with difference less than 3px from ground truth
+                    "3px": 0.9426,
+                },
+                # For middlebury, ratio of pixels with difference less than 2px from ground truth
+                # on full, half, and quarter image resolution
+                "Middlebury2014-val-full": {
+                    "2px": 0.8167,
+                },
+                "Middlebury2014-val-half": {
+                    "2px": 0.8741,
+                },
+                "Middlebury2014-val-quarter": {
+                    "2px": 0.9064,
+                },
+                "ETH3D-val": {
+                    # Ratio of pixels with difference less than 1px from ground truth
+                    "1px": 0.9672,
+                },
+            },
+        },
+    )
+
+    MIDDLEBURY_V1 = Weights(
+        # Weights ported from https://github.com/princeton-vl/RAFT-Stereo
+        url="https://download.pytorch.org/models/raft_stereo_base_middlebury-afa9d252.pth",
+        transforms=partial(StereoMatching, resize_size=(224, 224)),
+        meta={
+            "num_params": 11116176,
+            "recipe": "https://github.com/princeton-vl/RAFT-Stereo",
+            "_metrics": {
+                # Following metrics from paper: https://arxiv.org/abs/2109.07547
+                "Middlebury-test": {
+                    "mae": 1.27,
+                    "1px": 0.9063,
+                    "2px": 0.9526,
+                    "5px": 0.9725,
+                }
+            },
+        },
+    )
+
+    ETH3D_V1 = Weights(
+        # Weights ported from https://github.com/princeton-vl/RAFT-Stereo
+        url="https://download.pytorch.org/models/raft_stereo_base_eth3d-d4830f22.pth",
+        transforms=partial(StereoMatching, resize_size=(224, 224)),
+        meta={
+            "num_params": 11116176,
+            "recipe": "https://github.com/princeton-vl/RAFT-Stereo",
+            "_metrics": {
+                # Following metrics from paper: https://arxiv.org/abs/2109.07547
+                "ETH3D-test": {
+                    "mae": 0.18,
+                    "1px": 0.9756,
+                    "2px": 0.9956,
+                }
+            },
+        },
+    )
+
+    DEFAULT = MIDDLEBURY_V1
 
 
 @register_model()