def do_blur(left_image, rigth_image, stereonet_checkpoint, output_folder,
intermediate, verbose, timming, deploy, focus_plane, aperture,
pyramidal_conv, disparity_range, from_stage):
#defines verbose level
if verbose >= 2:
tf.logging.set_verbosity(tf.logging.INFO)
elif verbose >= 1:
tf.logging.set_verbosity(tf.logging.WARN)
else:
tf.logging.set_verbosity(tf.logging.ERROR)
#remove verbose bits from tf
os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'
#Opening images
tf.logging.info("Opening Images")
left_img = np.expand_dims(Image.open(left_image), 0).astype(
np.float32) / 255.0
rigth_image = np.expand_dims(Image.open(rigth_image), 0).astype(
np.float32) / 255.0
h, w = left_img.shape[1:3]
#making output folder if needed
if not os.path.exists(output_folder):
os.makedirs(output_folder)
#Building the graph
tf.logging.info("Making graph for %d focal planes" % len(focus_plane))
left_img_ph = tf.placeholder(tf.float32, shape=[1, h, w, 3])
rigth_img_ph = tf.placeholder(tf.float32, shape=[1, h, w, 3])
net_output_ph = refnet_blur_baseline(
left_img_ph,
rigth_img_ph,
target_disparities=focus_plane,
blur_magnitude=aperture,
is_training=False,
stop_grads=True,
min_disp=disparity_range[0],
max_disp=disparity_range[1],
downsampling_trick_max_kernel_size=pyramidal_conv,
from_stage=from_stage)
#Runs the thing
with tf.Session() as sess:
tf.logging.info("Loading stereonet weigts")
rv = optimistic_restore(sess, stereonet_checkpoint)
tf.logging.info("Restored %d vars" % rv)
if deploy:
tf.logging.info("Saving model and weigts for later deployement")
refocus_image_ph = net_output_ph[0]
print(refocus_image_ph)
tf.saved_model.simple_save(
sess,
output_folder + "/deployable",
inputs={
"left_img": left_img_ph,
"rigth_img": rigth_img_ph
},
outputs={"refocus_image": refocus_image_ph[0]})
tf.logging.info("Done")
tf.logging.info("Runing depth estimation and refocusing")
refocus_image, intermediate_result, _ = sess.run(net_output_ph,
feed_dict={
left_img_ph:
left_img,
rigth_img_ph:
rigth_image
})
tf.logging.info("Done")
if timming:
tf.logging.info("Getting timing")
feed_dict = {left_img_ph: left_img, rigth_img_ph: rigth_image}
avg_timing = time_up_to(sess, net_output_ph[0], feed_dict)
avg_timing_intermediate = time_up_to(sess, net_output_ph[1],
feed_dict)
tf.logging.info(
"Average timming for pipeline is %fs, including %fs to compute the disparity/cost volume and %fs for refocusing"
% (avg_timing, avg_timing_intermediate,
avg_timing - avg_timing_intermediate))
tf.logging.info("Saving to " + output_folder +
"/refocused_image_[focus_plane].png")
for i in range(len(focus_plane)):
f = focus_plane[i]
Image.fromarray((refocus_image[i][0, :, :, :] * 255).astype(
np.uint8)).save(output_folder + "/refocused_image_%f.png" % f)
if intermediate:
tf.logging.info("Saving intermediate output")
if from_stage == "disparity_map":
disp = intermediate_result[0, :, :, :]
disp = (disp - np.amin(disp)) / (np.amax(disp) - np.amin(disp))
disp = np.tile(disp, [1, 1, 3])
Image.fromarray((disp * 255).astype(
np.uint8)).save(output_folder + "/disparity.png")
else:
disparity_range = np.arange(
1, 18 + 1) * 8 #FIXME: see ben for disp=0
print(np.amin(intermediate_result))
print(np.amax(intermediate_result))
for d in range(intermediate_result.shape[-1]):
Image.fromarray(
(intermediate_result[0, :, :, d] * 255).astype(
np.uint8)).save(output_folder +
"/conf_volume_%d.png" %
disparity_range[d])
def do_depth(left_image, rigth_image, stereonet_checkpoint, output_folder,
intermediate, verbose, timming):
#defines verbose level
if verbose >= 2:
tf.logging.set_verbosity(tf.logging.INFO)
elif verbose >= 1:
tf.logging.set_verbosity(tf.logging.WARN)
else:
tf.logging.set_verbosity(tf.logging.ERROR)
#remove verbose bits from tf
#os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'
#Opening images
tf.logging.info("Opening Images")
left_img = np.expand_dims(Image.open(left_image), 0).astype(
np.float32) / 255.0
rigth_image = np.expand_dims(Image.open(rigth_image), 0).astype(
np.float32) / 255.0
#720p test
#left_img = np.zeros([1,720/4,1280/4, 3])
#rigth_image = np.zeros([1,720/4,1280/4,3])
h, w = left_img.shape[1:3]
tf.logging.info("Image size %d %d" % (h, w))
#making output folder if needed
if not os.path.exists(output_folder):
os.makedirs(output_folder)
#Building the graph
tf.logging.info("Making graph")
left_img_ph = tf.placeholder(tf.float32, shape=[1, h, w, 3])
rigth_img_ph = tf.placeholder(tf.float32, shape=[1, h, w, 3])
net_output_ph = stereonet(left_img_ph, rigth_img_ph, is_training=True)
#Runs the thing
with tf.Session() as sess:
tf.logging.info("Loading stereonet weigts")
rv = optimistic_restore(sess, stereonet_checkpoint)
tf.logging.info("Restored %d vars" % rv)
tf.logging.info("Runing depth estimation")
full_res_disparity_map, intermediate_results = sess.run(
net_output_ph,
feed_dict={
left_img_ph: left_img,
rigth_img_ph: rigth_image
})
tf.logging.info("Done")
if timming:
tf.logging.info("Getting timing")
feed_dict = {left_img_ph: left_img, rigth_img_ph: rigth_image}
avg_timing = time_up_to(sess, net_output_ph[0], feed_dict)
avg_timing_input_left_raw = time_up_to(
sess, net_output_ph[1]["input_left_raw"], feed_dict)
avg_timing_input_left_preprocess = time_up_to(
sess, net_output_ph[1]["input_left_preprocess"], feed_dict)
avg_timing_tower_feature_right = time_up_to(
sess, net_output_ph[1]["tower_feature_right"], feed_dict)
avg_timing_tower_cost_volume_left_view_coarse = time_up_to(
sess, net_output_ph[1]["cost_volume_left_view_coarse"],
feed_dict)
avg_timing_input_cost_volume_left_view = time_up_to(
sess, net_output_ph[1]["cost_volume_left_view"], feed_dict)
avg_timing_input_disparity_map_1_8 = time_up_to(
sess, net_output_ph[1]["disparity_map_1_8"], feed_dict)
avg_timing_input_disparity_map_1_4 = time_up_to(
sess, net_output_ph[1]["disparity_map_1_4"], feed_dict)
avg_timing_input_disparity_map_1_2 = time_up_to(
sess, net_output_ph[1]["disparity_map_1_2"], feed_dict)
tf.logging.info("Timeline:")
tf.logging.info("%fs to get to the raw input" %
(avg_timing_input_left_raw))
tf.logging.info("%fs to get to the processed input" %
(avg_timing_input_left_preprocess))
tf.logging.info("%fs to get to the image features" %
(avg_timing_tower_feature_right))
tf.logging.info("%fs to get to the coarse cost volume" %
(avg_timing_tower_cost_volume_left_view_coarse))
tf.logging.info("%fs to get to the cost volume" %
(avg_timing_input_cost_volume_left_view))
tf.logging.info("%fs to get to the disparity at 1/8" %
(avg_timing_input_disparity_map_1_8))
tf.logging.info("%fs to get to the disparity at 1/4" %
(avg_timing_input_disparity_map_1_4))
tf.logging.info("%fs to get to the disparity at 1/2" %
(avg_timing_input_disparity_map_1_2))
tf.logging.info("%fs to get to the disparity at 1/1" %
(avg_timing))
tf.logging.info("Differencial:")
tf.logging.info("%fs to get to the raw input" %
(avg_timing_input_left_raw))
tf.logging.info(
"%fs to get to the processed input" %
(avg_timing_input_left_preprocess - avg_timing_input_left_raw))
tf.logging.info("%fs to get to the image features" %
(avg_timing_tower_feature_right -
avg_timing_input_left_preprocess))
tf.logging.info("%fs to get to the coarse cost volume" %
(avg_timing_tower_cost_volume_left_view_coarse -
avg_timing_tower_feature_right))
tf.logging.info("%fs to get to the cost volume" %
(avg_timing_input_cost_volume_left_view -
avg_timing_tower_cost_volume_left_view_coarse))
tf.logging.info("%fs to get to the disparity at 1/8" %
(avg_timing_input_disparity_map_1_8 -
avg_timing_input_cost_volume_left_view))
tf.logging.info("%fs to get to the disparity at 1/4" %
(avg_timing_input_disparity_map_1_4 -
avg_timing_input_disparity_map_1_8))
tf.logging.info("%fs to get to the disparity at 1/2" %
(avg_timing_input_disparity_map_1_2 -
avg_timing_input_disparity_map_1_4))
tf.logging.info("%fs to get to the disparity at 1/1" %
(avg_timing - avg_timing_input_disparity_map_1_2))
tf.logging.info("Saving to " + output_folder + "/disparity_image.png")
def disp2im(disp):
disp = disp[0, :, :, :]
disp = (disp - np.amin(disp)) / (np.amax(disp) - np.amin(disp))
return (np.tile(disp, [1, 1, 3]) * 255).astype(np.uint8)
Image.fromarray(disp2im(full_res_disparity_map)).save(output_folder +
"/disparity.png")
if intermediate:
#cost_volume_left_view=intermediate_results["cost_volume_left_view"]
disparity_map_1_2 = intermediate_results["disparity_map_1_2"]
disparity_map_1_4 = intermediate_results["disparity_map_1_4"]
disparity_map_1_8 = intermediate_results["disparity_map_1_8"]
tf.logging.info("Saving intermediate output")
Image.fromarray(
disp2im(disparity_map_1_2)).save(output_folder +
"/disparity_1_2.png")
Image.fromarray(
disp2im(disparity_map_1_4)).save(output_folder +
"/disparity_map_1_4.png")
Image.fromarray(
disp2im(disparity_map_1_8)).save(output_folder +
"/disparity_map_1_8.png")