def main():
DIR = 'input_data_1217/'
time_total_start = time.time()
for idx in tqdm(range(56)):
# print(idx)
# time_start = time.time()
depth_img_gt = cv2.imread(DIR + 'gt_masked/gt{:03d}.bmp'.format(idx),
-1)
# depth_img_gt = depth_img_gt[:1200, :1200, :]
# cv2.imwrite(DIR + 'gt-original/gt{:03d}.bmp'.format(idx), depth_img_gt)
depth_gt = depth_tools.unpack_bmp_bgra_to_float(depth_img_gt)
# depth_img_rec = cv2.imread(DIR + 'rec/depth{:03d}.png'.format(idx), -1)
# depth_rec = depth_tools.unpack_png_to_float(depth_img_rec)
# gt = cv2.imread(DIR + 'gt-original/gt{:03d}.bmp'.format(idx), -1)
# gt_mask = cv2.imread(DIR + 'gt_mask/mask{:03d}.bmp'.format(idx), -1)
# gt_masked = delete_mask(gt, gt_mask)
# cv2.imwrite(DIR + 'gt_masked/gt{:03d}.bmp'.format(idx), gt_masked)
new_depth_gt = gaussian_filter(depth_gt, 4)
new_depth_gt_img = depth_tools.pack_float_to_bmp_bgra(new_depth_gt)
cv2.imwrite(DIR + 'gt/gt{:03d}.bmp'.format(idx), new_depth_gt_img)
new_xyz_depth_gt = depth_tools.convert_depth_to_coords(
new_depth_gt, cam_params)
depth_tools.dump_ply(DIR + 'ply_gt/gt{:03d}.ply'.format(idx),
new_xyz_depth_gt.reshape(-1, 3).tolist())
# xyz_depth_rec = depth_tools.convert_depth_to_coords(depth_rec, cam_params)
# depth_tools.dump_ply(DIR + 'tmp/depth{:03d}.ply'.format(idx), xyz_depth_rec.reshape(-1, 3).tolist())
# time_end = time.time()
# print('{:.2f} sec'.format(time_end - time_start))
time_total_end = time.time()
print('total {:.2f} sec'.format(time_total_end - time_total_start))
err_sqr_pred = np.square(gt - pred) * mask
err_sqr_guided = np.square(gt - guided) * mask
mse_rec = np.sum(err_sqr_rec) / mask_length
mse_pred = np.sum(err_sqr_pred) / mask_length
mse_guided = np.sum(err_sqr_guided) / mask_length
rmse_rec = np.sqrt(mse_rec)
rmse_pred = np.sqrt(mse_pred)
rmse_guided = np.sqrt(mse_guided)
# PLY
xyz_gt = depth_tools.convert_depth_to_coords(gt * mask, cam_params)
xyz_pred = depth_tools.convert_depth_to_coords(pred * mask, cam_params)
xyz_guided = depth_tools.convert_depth_to_coords(guided * mask, cam_params)
depth_tools.dump_ply(dir_ply + 'gt-{:03d}.ply'.format(idx),
xyz_gt.reshape(-1, 3).tolist())
depth_tools.dump_ply(dir_ply + 'pred-{:03d}.ply'.format(idx),
xyz_pred.reshape(-1, 3).tolist())
depth_tools.dump_ply(dir_ply + 'guided-{:03d}.ply'.format(idx),
xyz_guided.reshape(-1, 3).tolist())
for s in [idx, rmse_rec, rmse_pred, rmse_guided]:
result_str += str(s) + ','
result_str = result_str[:-1] + '\n'
# layout
fig = plt.figure(figsize=(10, 5))
plt.rcParams["font.size"] = 18
gs_master = GridSpec(nrows=2,
ncols=2,
height_ratios=[1, 1],
def main():
# src_rec_dir = src_dir + '/rec'
src_rec_dir = src_dir + '/rec_ajusted'
src_frame_dir = src_dir + '/frame'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shading'
if is_input_depth:
if is_input_frame:
ch_num = 3
else:
ch_num = 2
else:
if is_input_frame:
ch_num = 2
else:
ch_num = 1
# model configuration
if net_type is '0':
model = network.build_unet_model(batch_shape, ch_num)
elif net_type is '1':
model = network.build_resnet_model(batch_shape, ch_num)
elif net_type is '2':
model = network.build_dense_resnet_model(batch_shape, ch_num)
# log
df_log = pd.read_csv(out_dir + '/training.log')
if is_select_val:
df = df_log['val_loss']
else:
df = df_log['loss']
df.index = df.index + 1
# select minimum loss model
is_select_min_loss_model = True
if is_select_min_loss_model:
df_select = df[df.index>epoch_num-select_range]
df_select = df_select[df_select.index<=epoch_num]
df_select = df_select[df_select.index%save_period==0]
min_loss = df_select.min()
idx_min_loss = df_select.idxmin()
# model.load_weights(out_dir + '/model/model-%03d.hdf5'%idx_min_loss)
model.load_weights(out_dir + '/model/model-best.hdf5')
else:
model.load_weights(out_dir + '/model-final.hdf5')
# loss graph
lossgraph_dir = predict_dir + '/loss_graph'
os.makedirs(lossgraph_dir, exist_ok=True)
arr_loss = df.values
arr_epoch = df.index
if is_select_val:
init_epochs = [0, 10, int(epoch_num / 2), epoch_num - 200]
else:
init_epochs = [0, 10, epoch_num - 200, epoch_num - 100]
for init_epo in init_epochs:
if init_epo < 0:
continue
if init_epo >= epoch_num:
continue
plt.figure()
plt.plot(arr_epoch[init_epo: epoch_num], arr_loss[init_epo: epoch_num])
if is_select_min_loss_model:
plt.plot(idx_min_loss, min_loss, 'ro')
plt.xlabel('epoch')
plt.ylabel('loss')
plt.title('{} : epoch {} - {}'.format(df.name, init_epo + 1, epoch_num))
plt.savefig(lossgraph_dir + '/loss_{}-{}.pdf'.format(init_epo + 1, epoch_num))
# error compare txt
err_strings = 'index,type,MAE depth,MAE predict,RMSE depth,RMSE predict\n'
os.makedirs(predict_dir, exist_ok=True)
for test_idx in tqdm(data_idx_range):
src_bgra = src_frame_dir + '/frame{:03d}.png'.format(test_idx)
# src_depth_gap = src_rec_dir + '/depth{:03d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/depth{:03d}.bmp'.format(test_idx)
src_depth_gt = src_gt_dir + '/gt{:03d}.bmp'.format(test_idx)
# src_shading = src_shading_dir + '/shading{:03d}.png'.format(test_idx)
src_shading = src_shading_dir + '/shading{:03d}.bmp'.format(test_idx)
# read images
bgr = cv2.imread(src_bgra, -1) / 255.
depth_img_gap = cv2.imread(src_depth_gap, -1)
# depth_gap = depth_tools.unpack_png_to_float(depth_img_gap)
depth_gap = depth_tools.unpack_bmp_bgra_to_float(depth_img_gap)
depth_img_gt = cv2.imread(src_depth_gt, -1)
depth_gt = depth_tools.unpack_bmp_bgra_to_float(depth_img_gt)
depth_gt = depth_gt[:, :1200] # clipping
shading_bgr = cv2.imread(src_shading, -1)
# shading = cv2.imread(src_shading, 0) # GrayScale
shading = np.zeros_like(shading_bgr)
shading[:, :, 0] = 0.299 * shading_bgr[:, :, 2] + 0.587 * shading_bgr[:, :, 1] + 0.114 * shading_bgr[:, :, 0]
if is_shading_norm:
shading = shading / np.max(shading)
else:
shading = shading / 255.
img_shape = bgr.shape[:2]
# normalization (may not be needed)
# norm_factor = depth_gap.max()
# depth_gap /= norm_factor
# depth_gt /= depth_gt.max()
depth_thre = depth_threshold
# merge bgr + depth_gap
if is_input_frame:
bgrd = np.dstack([shading[:, :, 0], depth_gap, bgr[:, :, 0]])
else:
bgrd = np.dstack([shading[:, :, 0], depth_gap])
# clip batches
b_top, b_left = batch_tl
b_h, b_w = batch_shape
top_coords = range(batch_tl[0], img_shape[0], batch_shape[0])
left_coords = range(batch_tl[1], img_shape[1], batch_shape[1])
# add training data
x_test = []
for top, left in product(top_coords, left_coords):
def clip_batch(img, top_left, size):
t, l, h, w = *top_left, *size
return img[t:t + h, l:l + w]
batch_test = clip_batch(bgrd, (top, left), batch_shape)
if is_input_depth or is_input_frame:
x_test.append(batch_test)
else:
x_test.append(batch_test[:, :, 0].reshape((*batch_shape, 1)))
# predict
x_test = np.array(x_test)[:]
predict = model.predict(x_test, batch_size=1) # w/o denormalization
# predict = model.predict(
# x_test, batch_size=1) * norm_factor # w/ denormalization
# decode_img = np.hstack([
# np.vstack([predict[0], predict[2]]),
# np.vstack([predict[1], predict[3]])
# ])[:, :, 0:2]
decode_img = predict[0][:, :, 0:2]
# training types
is_gt_available = depth_gt > depth_thre
is_gap_unavailable = depth_gap < depth_thre
is_depth_close = np.logical_and(
np.abs(depth_gap - depth_gt) < difference_threshold,
is_gt_available)
is_to_interpolate = np.logical_and(is_gt_available, is_gap_unavailable)
train_segment = np.zeros(decode_img.shape[:2])
train_segment[is_depth_close] = 1
train_segment[is_to_interpolate] = 2
# is_train_area = np.logical_or(is_depth_close, is_to_interpolate)
# mask = is_gt_available * 1.0 # GT
mask = is_depth_close * 1.0 # no-complement
# mask = is_train_area * 1.0 # complement
mask_gt = is_gt_available * 1.0
# cv2.imwrite(predict_dir + '/mask-{:05d}.png'.format(test_idx),
# (mask * 255).astype(np.uint8))
predict_depth = decode_img[:, :, 0].copy()
depth_gt_masked = depth_gt * mask
depth_gt_zero = (depth_gt - depth_gap) * mask
predict_masked = predict_depth * mask
# scale
predict_depth /= difference_scaling
predict_masked /= difference_scaling
# predict normalization
if is_predict_norm:
mean_gt = np.mean(depth_gt_zero)
mean_predict = np.mean(predict_masked)
depth_gt_zero -= mean_gt
predict_depth -= mean_predict
predict_masked -= mean_predict
sd_gt = np.sqrt(np.var(depth_gt_zero))
sd_predict = np.sqrt(np.var(predict_masked))
predict_depth *= sd_gt / sd_predict
predict_masked *= sd_gt / sd_predict
depth_gt = (depth_gt_zero + depth_gap) * mask
# difference learn
predict_depth += depth_gap
predict_masked += depth_gap * mask
# predict_depth = common_tools.gaussian_filter(predict_depth, 4)
# predict_masked = predict_depth * mask
# error
depth_err_abs = np.abs(depth_gt - depth_gap)
predict_err_abs = np.abs(depth_gt - predict_depth)
depth_err_sqr = np.square(depth_gt - depth_gap)
predict_err_sqr = np.square(depth_gt - predict_depth)
# error image
depth_err = depth_err_abs
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
mask_length = np.sum(mask)
# Mean Absolute Error
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
depth_MAE = np.sum(depth_err_abs * mask) / mask_length
# Mean Squared Error
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
depth_MSE = np.sum(depth_err_sqr * mask) / mask_length
# Root Mean Square Error
predict_RMSE = np.sqrt(predict_MSE)
depth_RMSE = np.sqrt(depth_MSE)
err_strings += str(test_idx)
if test_idx in test_range:
# if test_idx not in train_range:
err_strings += ',test,'
else:
err_strings += ',train,'
for string in [depth_MAE, predict_MAE,depth_RMSE, predict_RMSE]:
err_strings += str(string) + ','
err_strings.rstrip(',')
err_strings = err_strings[:-1] + '\n'
predict_loss = predict_MAE
depth_loss = depth_MAE
# save predicted depth
if test_idx in save_ply_range:
predict_bmp = depth_tools.pack_float_to_bmp_bgra(predict_depth)
cv2.imwrite(predict_dir + '/predict_depth-{:03d}.bmp'.format(test_idx),
predict_bmp)
# save ply
if is_save_ply:
if test_idx in save_ply_range:
if is_masked_ply:
xyz_predict_masked = depth_tools.convert_depth_to_coords(predict_masked, cam_params)
depth_tools.dump_ply(predict_dir + '/predict_masked-%03d.ply'%test_idx, xyz_predict_masked.reshape(-1, 3).tolist())
else:
xyz_predict = depth_tools.convert_depth_to_coords(predict_depth, cam_params)
depth_tools.dump_ply(predict_dir + '/predict-%03d.ply'%test_idx, xyz_predict.reshape(-1, 3).tolist())
# save fig
if test_idx in test_range:
# if test_idx not in train_range:
# layout
fig = plt.figure(figsize=(8, 6))
gs_master = GridSpec(nrows=3,
ncols=2,
height_ratios=[1, 1, 1],
width_ratios=[4, 0.1])
gs_1 = GridSpecFromSubplotSpec(nrows=1,
ncols=4,
subplot_spec=gs_master[0, 0],
wspace=0.05,
hspace=0)
gs_2 = GridSpecFromSubplotSpec(nrows=1,
ncols=4,
subplot_spec=gs_master[1, 0],
wspace=0.05,
hspace=0)
gs_3 = GridSpecFromSubplotSpec(nrows=1,
ncols=4,
subplot_spec=gs_master[2, 0],
wspace=0.05,
hspace=0)
gs_4 = GridSpecFromSubplotSpec(nrows=3,
ncols=1,
subplot_spec=gs_master[0:2, 1])
ax_reg0 = fig.add_subplot(gs_1[0, 0])
ax_reg1 = fig.add_subplot(gs_1[0, 1])
ax_reg2 = fig.add_subplot(gs_1[0, 2])
ax_reg3 = fig.add_subplot(gs_1[0, 3])
ax_enh0 = fig.add_subplot(gs_2[0, 0])
ax_enh1 = fig.add_subplot(gs_2[0, 1])
ax_enh2 = fig.add_subplot(gs_2[0, 2])
ax_enh3 = fig.add_subplot(gs_2[0, 3])
ax_misc0 = fig.add_subplot(gs_3[0, 0])
ax_cb0 = fig.add_subplot(gs_4[0, 0])
ax_cb1 = fig.add_subplot(gs_4[1, 0])
# rmse
ax_err_gap = fig.add_subplot(gs_3[0, 1])
ax_err = fig.add_subplot(gs_3[0, 2])
ax_err_masked = fig.add_subplot(gs_3[0, 3])
ax_cb2 = fig.add_subplot(gs_4[2, 0])
for ax in [
ax_reg0, ax_reg1, ax_reg2, ax_reg3, ax_enh0, ax_enh1, ax_enh2,
ax_enh3, ax_misc0, ax_err_gap, ax_err, ax_err_masked
]:
ax.axis('off')
ax_reg0.imshow(depth_gt, vmin=vmin, vmax=vmax)
ax_reg1.imshow(depth_gap, vmin=vmin, vmax=vmax)
ax_reg2.imshow(predict_depth, vmin=vmin, vmax=vmax)
ax_reg3.imshow(predict_masked, vmin=vmin, vmax=vmax)
# close up
# mean = np.median(depth_gt)
mean = np.sum(depth_gt_masked) / mask_length
# vmin_s, vmax_s = mean - 0.05, mean + 0.05
vmin_s, vmax_s = mean - vm_range, mean + vm_range
ax_enh0.imshow(depth_gt, cmap='jet', vmin=vmin_s, vmax=vmax_s)
ax_enh1.imshow(depth_gap, cmap='jet', vmin=vmin_s, vmax=vmax_s)
ax_enh2.imshow(predict_depth, cmap='jet', vmin=vmin_s, vmax=vmax_s)
ax_enh3.imshow(predict_masked, cmap='jet', vmin=vmin_s, vmax=vmax_s)
# misc
ax_misc0.imshow(shading_bgr[:, :, ::-1])
# ax_misc0.imshow(shading[:, :, ::-1])
# ax_misc1.imshow(train_segment, cmap='rainbow', vmin=0, vmax=2)
# error
# vmin_e, vmax_e = 0, 0.05
# vmin_e, vmax_e = 0, 0.02
# vmin_e, vmax_e = 0, 0.01
vmin_e, vmax_e = 0, vm_e_range
ax_err_gap.imshow(depth_err, cmap='jet', vmin=vmin_e, vmax=vmax_e)
ax_err.imshow(predict_err, cmap='jet', vmin=vmin_e, vmax=vmax_e)
ax_err_masked.imshow(predict_err_masked, cmap='jet', vmin=vmin_e, vmax=vmax_e)
# title
ax_reg0.set_title('GT')
ax_reg1.set_title('Depth')
ax_reg2.set_title('Predict')
ax_reg3.set_title('Masked predict')
if test_idx in test_range:
# if test_idx not in train_range:
ax_enh0.set_title('Test data')
else:
ax_enh0.set_title('Train data')
ax_enh1.set_title('Train epoch:{}'.format(epoch_num))
ax_enh2.set_title('Model epoch:{}'.format(idx_min_loss))
ax_enh3.set_title('Train loss:{:.6f}'.format(min_loss))
ax_err_gap.set_title('Depth error:{:.6f}'.format(depth_loss))
ax_err_masked.set_title('Predict error:{:.6f}'.format(predict_loss))
# colorbar
plt.tight_layout()
fig.savefig(io.BytesIO())
cb_offset = -0.05
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin, vmax=vmax)),
cax=ax_cb0)
im_pos, cb_pos = ax_reg3.get_position(), ax_cb0.get_position()
ax_cb0.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_s, vmax=vmax_s),
cmap='jet'),
cax=ax_cb1)
im_pos, cb_pos = ax_enh3.get_position(), ax_cb1.get_position()
ax_cb1.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_e, vmax=vmax_e),
cmap='jet'),
cax=ax_cb2)
im_pos, cb_pos = ax_err.get_position(), ax_cb2.get_position()
ax_cb2.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
plt.savefig(predict_dir + '/compare-{:03d}.png'.format(test_idx), dpi=300)
plt.close()
with open(predict_dir + '/error_compare.txt', mode='w') as f:
f.write(err_strings)
compare_error.compare_error(predict_dir + '/')
def main():
if data_type is '0':
src_rec_dir = src_dir + '/rec'
# src_rec_dir = src_dir + '/rec_ajusted'
# src_rec_dir = src_dir + '/lowres' ############################ median filter depth
src_frame_dir = src_dir + '/frame'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shading'
elif data_type is '1':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
elif data_type is '2':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
elif data_type is '3':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
# src_rec_dir = src_dir + '/lowres'
elif data_type is '4':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
if is_input_depth:
if is_input_frame:
ch_num = 3
if is_input_coord:
ch_num = 5
else:
ch_num = 2
else:
if is_input_frame:
ch_num = 2
else:
ch_num = 1
# model configuration
if net_type is '0':
model = network.build_unet_model(batch_shape, ch_num)
# model = network2.BuildUnet(num_ch=ch_num,lr=0.001,rate_dropout=0.1, shape_patch=batch_shape)
elif net_type is '1':
model = network.build_resnet_model(batch_shape, ch_num)
elif net_type is '2':
model = network.build_dense_resnet_model(batch_shape, ch_num)
# log
df_log = pd.read_csv(out_dir + '/training.log')
if is_select_val:
df = df_log['val_loss']
else:
df = df_log['loss']
df.index = df.index + 1
if is_select_min_loss_model:
df_select = df[df.index > epoch_num - select_range]
df_select = df_select[df_select.index <= epoch_num]
df_select = df_select[df_select.index % save_period == 0]
min_loss = df_select.min()
idx_min_loss = df_select.idxmin()
model.load_weights(out_dir + '/model/model-%03d.hdf5' % idx_min_loss)
# model.load_weights(out_dir + '/model/model-best.hdf5')
# model.load_weights(out_dir + '/model-best.hdf5')
else:
# model.load_weights(out_dir + '/model-final.hdf5')
model.load_weights(out_dir + '/model/model-%03d.hdf5' % epoch_num)
# loss graph
lossgraph_dir = predict_dir + '/loss_graph'
os.makedirs(lossgraph_dir, exist_ok=True)
arr_loss = df.values
arr_epoch = df.index
if is_select_val:
init_epochs = [0, 10, int(epoch_num / 2), epoch_num - 200]
else:
init_epochs = [0, 10, epoch_num - 200, epoch_num - 100]
for init_epo in init_epochs:
if init_epo < 0:
continue
if init_epo >= epoch_num:
continue
plt.figure()
plt.plot(arr_epoch[init_epo:epoch_num], arr_loss[init_epo:epoch_num])
if is_select_min_loss_model:
plt.plot(idx_min_loss, min_loss, 'ro')
plt.xlabel('epoch')
plt.ylabel('loss')
plt.title('{} : epoch {} - {}'.format(df.name, init_epo + 1,
epoch_num))
plt.savefig(lossgraph_dir +
'/loss_{}-{}.pdf'.format(init_epo + 1, epoch_num))
# error compare txt
err_strings = 'index,type,MAE depth,MAE predict,RMSE depth,RMSE predict,SD AE depth,SD AE predict,SD RSE depth,SD RSE predict\n'
os.makedirs(predict_dir, exist_ok=True)
for test_idx in tqdm(data_idx_range):
if data_type is '0':
src_bgra = src_frame_dir + '/frame{:03d}.png'.format(test_idx)
# src_depth_gap = src_rec_dir + '/depth{:03d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/depth{:03d}.bmp'.format(test_idx)
src_depth_gt = src_gt_dir + '/gt{:03d}.bmp'.format(test_idx)
# src_shading = src_shading_dir + '/shading{:03d}.png'.format(test_idx)
src_shading = src_shading_dir + '/shading{:03d}.bmp'.format(
test_idx)
elif data_type is '1':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '2':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '3':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
# src_shading = src_shading_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '4':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
# read images
bgr = cv2.imread(src_bgra, -1) / 255.
bgr = bgr[:1200, :1200, :]
depth_img_gap = cv2.imread(src_depth_gap, -1)
depth_img_gap = depth_img_gap[:1200, :1200, :]
# depth_gap = depth_tools.unpack_png_to_float(depth_img_gap)
depth_gap = depth_tools.unpack_bmp_bgra_to_float(depth_img_gap)
depth_img_gt = cv2.imread(src_depth_gt, -1)
depth_img_gt = depth_img_gt[:1200, :1200, :]
depth_gt = depth_tools.unpack_bmp_bgra_to_float(depth_img_gt)
img_shape = bgr.shape[:2]
# shading_bgr = cv2.imread(src_shading, -1)
shading_bgr = cv2.imread(src_shading, 1)
shading_bgr = shading_bgr[:1200, :1200, :]
shading_gray = cv2.imread(src_shading, 0) # GrayScale
shading_gray = shading_gray[:1200, :1200]
shading = shading_gray
is_shading_available = shading > 0
mask_shading = is_shading_available * 1.0
# depth_gap = depth_gt[:, :] * mask_shading
# mean_depth = np.sum(depth_gap) / np.sum(mask_shading)
# depth_gap = mean_depth * mask_shading
depth_gap *= mask_shading
if is_shading_norm: # shading norm : mean 0, var 1
is_shading_available = shading > 8.0 #16.0
mask_shading = is_shading_available * 1.0
mean_shading = np.sum(
shading * mask_shading) / np.sum(mask_shading)
var_shading = np.sum(
np.square((shading - mean_shading) *
mask_shading)) / np.sum(mask_shading)
std_shading = np.sqrt(var_shading)
shading = (shading - mean_shading) / std_shading
else:
shading = shading / 255.
# is_depth_available = depth_gt > depth_threshold
# mask_depth = is_depth_available * 1.0
# depth_gap = np.zeros_like(depth_gt)
# mean_depth = np.sum(depth_gt) / np.sum(mask_depth)
# depth_gap = mean_depth * mask_depth
# normalization (may not be needed)
# norm_factor = depth_gap.max()
# depth_gap /= norm_factor
# depth_gt /= depth_gt.max()
depth_thre = depth_threshold
if is_input_coord:
coord_x = np.linspace(0, 1, img_size)
coord_y = np.linspace(0, 1, img_size)
grid_x, grid_y = np.meshgrid(coord_x, coord_y)
# merge bgr + depth_gap
if is_input_frame:
if is_input_depth:
bgrd = np.dstack([shading[:, :], depth_gap, bgr[:, :, 0]])
if is_input_coord:
bgrd = np.dstack([
shading[:, :], depth_gap, bgr[:, :, 0], grid_x, grid_y
])
else:
bgrd = np.dstack([shading[:, :], bgr[:, :, 0]])
else:
bgrd = np.dstack([shading[:, :], depth_gap])
# clip batches
b_top, b_left = batch_tl
b_h, b_w = batch_shape
top_coords = range(b_top, img_shape[0], b_h)
left_coords = range(b_left, img_shape[1], b_w)
# add test data
x_test = []
for top, left in product(top_coords, left_coords):
def clip_batch(img, top_left, size):
t, l, h, w = *top_left, *size
return img[t:t + h, l:l + w]
batch_test = clip_batch(bgrd, (top, left), batch_shape)
if is_input_depth or is_input_frame:
x_test.append(batch_test)
else:
x_test.append(batch_test[:, :, 0].reshape((*batch_shape, 1)))
# predict
x_test = np.array(x_test)[:]
predict = model.predict(x_test, batch_size=1) # w/o denormalization
# predict = model.predict(
# x_test, batch_size=1) * norm_factor # w/ denormalization
# decode_img = np.hstack([
# np.vstack([predict[0], predict[2]]),
# np.vstack([predict[1], predict[3]])
# ])[:, :, 0:2]
decode_img = predict[0][:, :, 0:2]
# training types
is_gt_available = depth_gt > depth_thre
is_gap_unavailable = depth_gap < depth_thre
is_depth_close = np.logical_and(
np.abs(depth_gap - depth_gt) < difference_threshold,
is_gt_available)
is_to_interpolate = np.logical_and(is_gt_available, is_gap_unavailable)
train_segment = np.zeros(decode_img.shape[:2])
train_segment[is_depth_close] = 1
train_segment[is_to_interpolate] = 2
# is_train_area = np.logical_or(is_depth_close, is_to_interpolate)
# mask = is_gt_available * 1.0 # GT
mask = is_depth_close * 1.0 # no-complement
# mask = is_train_area * 1.0 # complement
# delete mask edge
if is_edge_crop:
# kernel = np.ones((mask_edge_size, mask_edge_size), np.uint8)
# mask = cv2.erode(mask, kernel, iterations=1)
edge_size = mask_edge_size
mask_filter = np.zeros_like(mask)
for edge in range(1, edge_size):
edge_2 = edge * 2
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[:b_h - edge_2,
edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge:b_h - edge, edge_2:]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge_2:, edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge, edge:b_w -
edge] = mask[edge:b_h - edge, :b_w - edge_2]
mask *= mask_filter
for i in range(2):
for j in range(2):
mask_filter[edge * i:b_h - edge * (1 - i),
edge * j:b_w - edge *
(1 - j)] = mask[edge * (1 - i):b_h -
edge * i, edge *
(1 - j):b_h - edge * j]
mask *= mask_filter
mask_gt = is_gt_available * 1.0
mask_length = np.sum(mask)
# cv2.imwrite(predict_dir + '/mask-{:05d}.png'.format(test_idx),
# (mask * 255).astype(np.uint8))
predict_diff = decode_img[:, :, 0].copy()
if is_pred_smooth:
predict_depth = common_tools.gaussian_filter(
predict_diff, 2, 0.002)
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_diff_masked = predict_diff * mask
# scale
predict_diff /= difference_scaling
predict_diff_masked /= difference_scaling
# predict normalization
if is_predict_norm_local:
patch_size = norm_patch_size
if is_norm_local_pix:
# cp.cuda.set_allocator(cp.cuda.MemoryPool().malloc)
# mask_float = mask * 1.0
# kernel = np.ones((patch_size, patch_size))
# patch_mask_len = cv2.filter2D(mask_float, -1, kernel, borderType=cv2.BORDER_CONSTANT).astype('int16')
# patch_gt_sum = cv2.filter2D(gt_diff, -1, kernel, borderType=cv2.BORDER_CONSTANT)
# patch_pred_sum = cv2.filter2D(predict_diff_masked, -1, kernel, borderType=cv2.BORDER_CONSTANT)
# print(patch_mask_len[800:810, 800:810])
# print(np.min(patch_mask_len))
# print(patch_gt_sum[800:810, 800:810])
# print(patch_pred_sum[800:810, 800:810])
# patch_gt_mean = np.where(patch_mask_len < 10, 0, patch_gt_sum / patch_mask_len)
# patch_pred_mean = np.where(patch_mask_len < 10, 0, patch_pred_sum / patch_mask_len)
# print(patch_gt_mean[800:810, 800:810])
# print(patch_pred_mean[800:810, 800:810])
# print(np.max(patch_gt_mean))
# print(np.max(patch_pred_mean))
# print(patch_gt_mean)
# gt_diff_cp = cp.asarray(gt_diff).astype(cp.float32)
# pred_diff_cp = cp.asarray(predict_diff_masked).astype(cp.float32)
# mask_cp = cp.asarray(mask_float).astype(cp.float32)
# mask_len_cp = cp.asarray(patch_mask_len).astype(cp.float32)
# patch_gt_mean_cp = cp.asarray(patch_gt_mean).astype(cp.float32)
# patch_pred_mean_cp = cp.asarray(patch_pred_mean).astype(cp.float32)
# new_pred_diff = cp.zeros_like(pred_diff_cp)
# new_mask = cp.zeros_like(mask_cp)
# height, width = pred_diff_cp.shape
# get_norm_pred = cp.ElementwiseKernel(
# in_params='raw float32 gt_diff, raw float32 pred_diff, raw float32 mask, raw float32 mask_len, raw float32 gt_mean, raw float32 pred_mean, int16 height, int16 width, int16 patch_size',
# out_params='float32 new_pred_diff, float32 new_mask',
# preamble=\
# '''
# __device__ int get_x_idx(int i, int width) {
# return i % width;
# }
# __device__ int get_y_idx(int i, int height) {
# return i / height;
# }
# ''',
# operation=\
# '''
# int x = get_x_idx(i, width);
# int y = get_y_idx(i, height);
# int diameter = patch_size;
# int distance = (diameter - 1) / 2;
# if ( ((x >= distance) && (x < width - distance)) && ((y >= distance) && (y < height - distance)) && (mask[i] > 0) ) {
# if (mask_len[i] > 10) {
# float gt_sum = 0;
# float pred_sum = 0;
# for (int k=0; k<diameter; k++) {
# for (int l=0; l<diameter; l++) {
# float pixel_gt = gt_diff[i + (k-distance)*width + l - distance] - gt_mean[i];
# float pixel_pred = pred_diff[i + (k-distance)*width + l - distance] - pred_mean[i];
# gt_sum += pixel_gt * pixel_gt;
# pred_sum += pixel_pred * pixel_pred;
# }
# }
# float sd_gt = gt_sum;
# float sd_pred = pred_sum;
# new_pred_diff[i] = (pred_diff[i] - pred_mean[i]) * (sd_gt / sd_pred) + gt_mean[i];
# new_mask[i] = 1;
# } else {
# new_mask[i] = 0;
# new_pred_diff[i] = 0;
# }
# } else {
# new_mask[i] = 0;
# new_pred_diff[i] = 0;
# }
# ''',
# name='get_norm_pred'
# )
# get_norm_pred(gt_diff_cp, pred_diff_cp, mask_cp, mask_len_cp, patch_gt_mean_cp, patch_pred_mean_cp, height, width, patch_size, new_pred_diff, mask_cp)
# predict_diff = cp.asnumpy(new_pred_diff)
# mask = cp.asnumpy(new_mask)
p = norm_patch_size
new_pred_diff = np.zeros_like(predict_diff_masked)
new_mask = mask.copy()
for i in range(p + 1, batch_shape[0] - p - 1):
for j in range(p + 1, batch_shape[1] - p - 1):
if not mask[i, j]:
new_pred_diff[i, j] = 0
continue
local_mask = mask[i - p:i + p + 1, j - p:j + p + 1]
local_gt_diff = gt_diff[i - p:i + p + 1,
j - p:j + p + 1]
local_pred = predict_diff_masked[i - p:i + p + 1,
j - p:j + p + 1]
local_mask_len = np.sum(local_mask)
patch_len = (p * 2 + 1)**2
if local_mask_len < patch_len * patch_rate / 100:
new_pred_diff[i, j] = 0
new_mask[i, j] = False
continue
local_mean_gt = np.sum(local_gt_diff) / local_mask_len
local_mean_pred = np.sum(local_pred) / local_mask_len
local_sd_gt = np.sqrt(
np.sum(np.square(local_gt_diff - local_mean_gt)) /
local_mask_len)
local_sd_pred = np.sqrt(
np.sum(np.square(local_pred - local_mean_pred)) /
local_mask_len)
if is_fix_inv_local:
new_local_gt = local_gt_diff - local_mean_gt
new_local_pred = (local_pred - local_mean_pred) * (
local_sd_gt / local_sd_pred)
new_local_pred_inv = new_local_pred.copy() * -1
new_local_err = np.sqrt(
np.sum(np.square(new_local_gt -
new_local_pred)))
new_local_err_inv = np.sqrt(
np.sum(
np.square(new_local_gt -
new_local_pred_inv)))
if new_local_err < new_local_err_inv:
new_pred_diff[
i,
j] = new_local_pred[p, p] + local_mean_gt
else:
new_pred_diff[i, j] = new_local_pred_inv[
p, p] + local_mean_gt
else:
new_pred_diff[i, j] = (
predict_diff[i, j] - local_mean_pred
) * (local_sd_gt / local_sd_pred) + local_mean_gt
predict_diff = new_pred_diff
mask = new_mask
mask[:p, :] = False
mask[batch_shape[0] - p:, :] = False
mask[:, :p] = False
mask[:, batch_shape[1] - p:] = False
# print(mask[40:60, 1140:1160])
mask *= 1.0
# print(mask_length)
# print(mask[40:60, 1140:1160])
mask_length = np.sum(mask)
# print(mask_length)
else:
for i in range(batch_shape[0] // p):
for j in range(batch_shape[1] // p):
local_mask = mask[p * i:p * (i + 1), p * j:p * (j + 1)]
local_gt_diff = gt_diff[p * i:p * (i + 1),
p * j:p * (j + 1)]
local_pred = predict_diff_masked[p * i:p * (i + 1),
p * j:p * (j + 1)]
local_mask_len = np.sum(local_mask)
if local_mask_len < 10:
predict_diff[p * i:p * (i + 1),
p * j:p * (j + 1)] = 0
continue
local_mean_gt = np.sum(local_gt_diff) / local_mask_len
local_mean_pred = np.sum(local_pred) / local_mask_len
local_sd_gt = np.sqrt(
np.sum(np.square(local_gt_diff - local_mean_gt)) /
local_mask_len)
local_sd_pred = np.sqrt(
np.sum(np.square(local_pred - local_mean_pred)) /
local_mask_len)
predict_diff[
p * i:p * (i + 1), p * j:p *
(j + 1)] = (local_pred - local_mean_pred) * (
local_sd_gt / local_sd_pred) + local_mean_gt
elif is_predict_norm:
mean_gt = np.sum(gt_diff) / mask_length
mean_predict = np.sum(predict_diff_masked) / mask_length
gt_diff -= mean_gt
predict_diff -= mean_predict
out_diff_R = predict_diff.copy() # save diff
sd_gt = np.sqrt(np.sum(np.square(gt_diff * mask)) / mask_length)
sd_predict = np.sqrt(
np.sum(np.square(predict_diff * mask)) / mask_length)
predict_diff *= sd_gt / sd_predict
predict_diff += mean_gt
###############
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_diff_masked = predict_diff * mask
# reverse predict
if is_pred_reverse:
predict_depth = predict_diff * -1.0 # reverse
# difference learn
predict_depth += depth_gap
predict_masked = predict_depth * mask
# ajust bias, calc error
if is_pred_ajust:
# mean_gt_diff = np.sum(gt_diff) / mask_length
# mean_out_dif = np.sum(out_diff * mask) / mask_length
# bias_out_dif = mean_out_dif - mean_gt_diff
# out_diff_ajusted = out_diff - bias_out_dif
mean_depth_gt = np.sum(depth_gt_masked) / mask_length
mean_depth_pred = np.sum(predict_masked) / mask_length
predict_depth += mean_depth_gt - mean_depth_pred
predict_masked += mean_depth_gt - mean_depth_pred
# error
depth_err_abs_R = np.abs(depth_gt - depth_gap)
depth_err_sqr_R = np.square(depth_gt - depth_gap)
if is_pred_ajust:
# predict_err_abs_R = np.abs(gt_diff - out_diff_ajusted)
# predict_err_sqr_R = np.square(gt_diff - out_diff_ajusted)
predict_err_abs_R = np.abs(depth_gt - predict_depth)
predict_err_sqr_R = np.square(depth_gt - predict_depth)
else:
predict_err_abs_R = np.abs(depth_gt - predict_depth)
predict_err_sqr_R = np.square(depth_gt - predict_depth)
# error image
depth_err_R = depth_err_abs_R
predict_err_R = predict_err_abs_R
predict_err_masked_R = predict_err_R * mask
# Mean Absolute Error
predict_MAE_R = np.sum(predict_err_abs_R * mask) / mask_length
depth_MAE_R = np.sum(depth_err_abs_R * mask) / mask_length
# Mean Squared Error
predict_MSE_R = np.sum(predict_err_sqr_R * mask) / mask_length
depth_MSE_R = np.sum(depth_err_sqr_R * mask) / mask_length
# Root Mean Square Error
predict_RMSE_R = np.sqrt(predict_MSE_R)
depth_RMSE_R = np.sqrt(depth_MSE_R)
#################################################################
predict_depth = predict_diff
# difference learn
# predict_depth += depth_gap
# predict_masked = predict_depth * mask
# ajust bias, calc error
if is_pred_ajust:
# mean_gt_diff = np.sum(gt_diff) / mask_length
# mean_out_dif = np.sum(out_diff * mask) / mask_length
# bias_out_dif = mean_out_dif - mean_gt_diff
# out_diff_ajusted = out_diff - bias_out_dif
mean_depth_gt = np.sum(depth_gt_masked) / mask_length
mean_depth_pred = np.sum(predict_masked) / mask_length
predict_depth += mean_depth_gt - mean_depth_pred
predict_masked += mean_depth_gt - mean_depth_pred
# error
# depth_err_abs = np.abs(depth_gt - depth_gap)
# depth_err_sqr = np.square(depth_gt - depth_gap)
# depth_err_diff = depth_gt - depth_gap
depth_err_abs = np.abs(gt_diff)
depth_err_sqr = np.square(gt_diff)
depth_err_diff = gt_diff
if is_pred_ajust:
# predict_err_abs = np.abs(gt_diff - out_diff_ajusted)
# predict_err_sqr = np.square(gt_diff - out_diff_ajusted)
predict_err_abs = np.abs(depth_gt - predict_depth)
predict_err_sqr = np.square(depth_gt - predict_depth)
else:
# predict_err_abs = np.abs(depth_gt - predict_depth)
# predict_err_sqr = np.square(depth_gt - predict_depth)
predict_err_abs = np.abs(gt_diff - predict_depth)
predict_err_sqr = np.square(gt_diff - predict_depth)
predict_depth += depth_gap
predict_masked = predict_depth * mask
# error image ##################################################
depth_err = depth_err_abs
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
# depth_err = depth_err_diff
# predict_err_masked = (depth_gt - predict_depth) * mask
#################################################################
# Mean Absolute Error
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
depth_MAE = np.sum(depth_err_abs * mask) / mask_length
# Mean Squared Error
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
depth_MSE = np.sum(depth_err_sqr * mask) / mask_length
# Root Mean Square Error
predict_RMSE = np.sqrt(predict_MSE)
depth_RMSE = np.sqrt(depth_MSE)
# SD
sd_ae_depth = np.sqrt(
np.sum(np.square(depth_err_abs - depth_MAE) * mask) / mask_length)
sd_ae_pred = np.sqrt(
np.sum(np.square(predict_err_abs - predict_MAE) * mask) /
mask_length)
sd_rse_depth = np.sqrt(
np.sum(np.square(np.sqrt(depth_err_sqr) - depth_RMSE) * mask) /
mask_length)
sd_rse_pred = np.sqrt(
np.sum(np.square(np.sqrt(predict_err_sqr) - predict_RMSE) * mask) /
mask_length)
if is_pred_pix_reverse: # Inverse on Pix
if is_reverse_threshold: # Inverse by Threshold
predict_err_abs = np.where(
np.logical_and(predict_err_abs > r_thre,
predict_err_abs > predict_err_abs_R),
predict_err_abs_R, predict_err_abs)
predict_err_sqr = np.where(
np.logical_and(predict_err_sqr > r_thre**2,
predict_err_sqr > predict_err_sqr_R),
predict_err_sqr_R, predict_err_sqr)
else:
predict_err_abs = np.where(predict_err_abs < predict_err_abs_R,
predict_err_abs, predict_err_abs_R)
predict_err_sqr = np.where(predict_err_sqr < predict_err_sqr_R,
predict_err_sqr, predict_err_sqr_R)
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
predict_RMSE = np.sqrt(predict_MSE)
elif is_pred_patch_inverse: # Inverse on Patch
p = norm_patch_size
for i in range(batch_shape[0] // p):
for j in range(batch_shape[1] // p):
err_abs_patch = predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_abs_patch_R = predict_err_abs_R[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_sqr_patch = predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_sqr_patch_R = predict_err_sqr_R[p * i:p * (i + 1),
p * j:p * (j + 1)]
if np.sum(err_sqr_patch) < np.sum(err_abs_patch_R):
predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_abs_patch
predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_sqr_patch
else:
predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_abs_patch_R
predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_sqr_patch_R
elif is_pred_reverse:
if predict_RMSE > predict_RMSE_R:
depth_err = depth_err_R
predict_err = predict_err_R
predict_err_masked = predict_err_masked_R
predict_MAE = predict_MAE_R
depth_MAE = depth_MAE_R
predict_MSE = predict_MSE_R
depth_MSE = depth_MSE_R
predict_RMSE = predict_RMSE_R
depth_RMSE = depth_RMSE_R
out_diff = out_diff_R
# output difference
if is_save_diff:
net_out_dir = predict_dir + '/net_output/'
os.makedirs(net_out_dir, exist_ok=True)
if test_idx in save_img_range:
np.save(net_out_dir + '{:05d}.npy'.format(test_idx), out_diff)
out_diff_depth = out_diff + 1
xyz_out_diff = depth_tools.convert_depth_to_coords(
out_diff_depth, cam_params)
depth_tools.dump_ply(
net_out_dir + '{:05d}.ply'.format(test_idx),
xyz_out_diff.reshape(-1, 3).tolist())
err_strings += str(test_idx)
if test_idx in test_range:
# if test_idx not in train_range:
err_strings += ',test,'
else:
err_strings += ',train,'
for string in [
depth_MAE, predict_MAE, depth_RMSE, predict_RMSE, sd_ae_depth,
sd_ae_pred, sd_rse_depth, sd_rse_pred
]:
err_strings += str(string) + ','
err_strings.rstrip(',')
err_strings = err_strings[:-1] + '\n'
predict_loss = predict_MAE
depth_loss = depth_MAE
# save predicted depth
if is_save_depth_img:
if test_idx in save_img_range:
predict_bmp = depth_tools.pack_float_to_bmp_bgra(
predict_masked)
cv2.imwrite(
predict_dir + '/predict-{:03d}.bmp'.format(test_idx),
predict_bmp)
# save ply
if is_save_ply:
if test_idx in save_ply_range:
if is_masked_ply:
xyz_predict_masked = depth_tools.convert_depth_to_coords(
predict_masked, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict_masked-%03d.ply' % test_idx,
xyz_predict_masked.reshape(-1, 3).tolist())
else:
xyz_predict = depth_tools.convert_depth_to_coords(
predict_depth, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict-%03d.ply' % test_idx,
xyz_predict.reshape(-1, 3).tolist())
# save fig
# if test_idx in test_range:
if test_idx in save_img_range:
# layout
fig = plt.figure(figsize=(7, 5))
gs_master = GridSpec(nrows=2,
ncols=2,
height_ratios=[1, 1],
width_ratios=[3, 0.1])
gs_1 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[0, 0],
wspace=0.05,
hspace=0)
gs_2 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[1, 0],
wspace=0.05,
hspace=0)
gs_3 = GridSpecFromSubplotSpec(nrows=2,
ncols=1,
subplot_spec=gs_master[0:1, 1])
ax_enh0 = fig.add_subplot(gs_1[0, 0])
ax_enh1 = fig.add_subplot(gs_1[0, 1])
ax_enh2 = fig.add_subplot(gs_1[0, 2])
ax_misc0 = fig.add_subplot(gs_2[0, 0])
ax_err_gap = fig.add_subplot(gs_2[0, 1])
ax_err_pred = fig.add_subplot(gs_2[0, 2])
ax_cb0 = fig.add_subplot(gs_3[0, 0])
ax_cb1 = fig.add_subplot(gs_3[1, 0])
for ax in [
ax_enh0, ax_enh1, ax_enh2, ax_misc0, ax_err_gap,
ax_err_pred
]:
ax.axis('off')
# close up
# mean = np.sum(depth_gt_masked) / mask_length
# vmin_s, vmax_s = mean - vm_range, mean + vm_range
# whole
gt_in_mask = depth_gt[np.nonzero(depth_gt * mask)]
vmin_s, vmax_s = np.min(gt_in_mask), np.max(gt_in_mask)
ax_enh0.imshow(depth_gt_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh1.imshow(depth_gap * mask,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh2.imshow(predict_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh0.set_title('Ground Truth')
ax_enh1.set_title('Low-res')
ax_enh2.set_title('Ours')
# misc
ax_misc0.imshow(shading_bgr[:, :, ::-1])
# ax_misc0.imshow(np.dstack([shading_gray, shading_gray, shading_gray]))
# shading_norm_img = (shading[:, :] * 64 + 128)
# shading_norm_img = np.where(shading_norm_img < 0, 0, shading_norm_img).astype(np.uint8)
# ax_misc0.imshow(np.dstack([shading_norm_img, shading_norm_img, shading_norm_img]))
# error
is_scale_err_mm = True
if is_scale_err_mm:
scale_err = 1000
else:
scale_err = 1
vmin_e, vmax_e = 0, vm_e_range * scale_err
ax_err_gap.imshow(depth_err * mask * scale_err,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
ax_err_pred.imshow(predict_err_masked * scale_err,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
# vmin_e, vmax_e = -1 * vm_e_range * scale_err, vm_e_range * scale_err
# # ax_err_gap.imshow(depth_err * mask * scale_err, cmap='coolwarm', vmin=vmin_e, vmax=vmax_e)
# # ax_err_pred.imshow(predict_err_masked * scale_err, cmap='coolwarm', vmin=vmin_e, vmax=vmax_e)
# ax_err_gap.imshow(depth_err * mask * scale_err, cmap='jet', vmin=vmin_e, vmax=vmax_e)
# ax_err_pred.imshow(predict_err_masked * scale_err, cmap='jet', vmin=vmin_e, vmax=vmax_e)
# title
# ax_enh0.set_title('Groud Truth')
# ax_enh1.set_title('Input Depth')
# ax_enh2.set_title('Predict')
# ax_err_gap.set_title('')
# ax_err_pred.set_title('')
# colorbar
plt.tight_layout()
fig.savefig(io.BytesIO())
cb_offset = -0.05
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_s,
vmax=vmax_s),
cmap='jet'),
cax=ax_cb0)
im_pos, cb_pos = ax_enh2.get_position(), ax_cb1.get_position()
ax_cb0.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
ax_cb0.set_xlabel(' [m]')
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_e,
vmax=vmax_e),
cmap='jet'),
cax=ax_cb1)
# plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_e, vmax=vmax_e),
# cmap='coolwarm'),
# cax=ax_cb1)
im_pos, cb_pos = ax_err_pred.get_position(), ax_cb1.get_position()
ax_cb1.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
if is_scale_err_mm:
ax_cb1.set_xlabel(' [mm]')
else:
ax_cb1.set_xlabel(' [m]')
plt.savefig(predict_dir + '/result-{:03d}.png'.format(test_idx),
dpi=300)
# plt.savefig(predict_dir + '/result-dif-{:03d}.png'.format(test_idx), dpi=300)
# plt.savefig(predict_dir + '/result-dif-{:03d}.jpg'.format(test_idx), dpi=300)
# plt.savefig(predict_dir + '/result-{:03d}.pdf'.format(test_idx), dpi=300)
plt.close()
with open(predict_dir + '/error_compare.txt', mode='w') as f:
f.write(err_strings)
compare_error.compare_error(predict_dir + '/')
idx = range(160, 200)
idx = range(68)
idx = range(20)
# calib 200317
cam_params = {
'focal_length': 0.037009,
'pix_x': 1.25e-05,
'pix_y': 1.2381443057539635e-05,
'center_x': 790.902,
'center_y': 600.635
}
# calib 200427
# cam_params = {
# 'focal_length': 0.036917875,
# 'pix_x': 1.25e-05,
# 'pix_y': 1.2416172558410155e-05,
# 'center_x': 785.81,
# 'center_y': 571.109
# }
for i in tqdm(idx):
# img_depth = cv2.imread(DIR + 'gt/{:05d}.bmp'.format(i), -1)
img_depth = cv2.imread(DIR + 'rec/{:05d}.bmp'.format(i), -1)
depth = depth_tools.unpack_bmp_bgra_to_float(img_depth)
# depth = tool.gaussian_filter(depth, 4)
# depth = tool.gaussian_filter(depth, 2)
xyz_depth = depth_tools.convert_depth_to_coords(depth, cam_params)
# depth_tools.dump_ply(DIR + 'ply_gt/{:05d}.ply'.format(i), xyz_depth.reshape(-1, 3).tolist())
depth_tools.dump_ply(DIR + 'ply_rec/{:05d}.ply'.format(i),
xyz_depth.reshape(-1, 3).tolist())
}
index = range(1)
for i in tqdm(index):
gt = GT + 'gt%05d.bmp' % i
rec = REC + 'depth%05d.png' % i
# gt = GT + 'NewScan000.depth.dist.bmp'
# rec = REC + 'check13-depthimage.png'
depth_gt = tool.unpack_bmp_bgra_to_float(cv2.imread(gt, -1))
depth_rec = tool.unpack_png_to_float(cv2.imread(rec, -1))
# depth_err = np.abs(depth_gt - depth_rec) + 1
is_gt_available = depth_gt > depth_threshold
is_depth_close = np.logical_and(
np.abs(depth_rec - depth_gt) < difference_threshold, is_gt_available)
mask = is_depth_close * 1.0
xyz_gt = tool.convert_depth_to_coords(depth_gt, cam_params)
xyz_rec = tool.convert_depth_to_coords(depth_rec, cam_params)
xyz_rec_masked = tool.convert_depth_to_coords(depth_rec * mask, cam_params)
# xyz_err = tool.convert_depth_to_coords(depth_err, cam_params)
# print(xyz_gt.shape)
# print(xyz_gt.reshape(-1, 3).tolist().shape)
tool.dump_ply(OUT + 'gt%05d.ply' % i, xyz_gt.reshape(-1, 3).tolist())
tool.dump_ply(OUT + 'rec%05d.ply' % i, xyz_rec.reshape(-1, 3).tolist())
tool.dump_ply(OUT + 'rec_masked%05d.ply' % i,
xyz_rec_masked.reshape(-1, 3).tolist())
# tool.dump_ply(OUT + 'err%05d.ply'%i, xyz_err.reshape(-1, 3).tolist())
def main():
if data_type is '0':
src_rec_dir = src_dir + '/rec'
src_frame_dir = src_dir + '/frame'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shading'
elif data_type is '1':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
elif data_type is '2':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
elif data_type is '3':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
if is_input_depth:
if is_input_frame:
ch_num = 3
if is_input_coord:
ch_num = 5
else:
ch_num = 2
else:
if is_input_frame:
ch_num = 2
else:
ch_num = 1
# model configuration
model = network.build_unet_model(batch_shape, ch_num)
# log
df_log = pd.read_csv(out_dir + '/training.log')
if is_select_val:
df = df_log['val_loss']
else:
df = df_log['loss']
df.index = df.index + 1
if is_select_min_loss_model:
df_select = df[df.index > epoch_num - select_range]
df_select = df_select[df_select.index <= epoch_num]
df_select = df_select[df_select.index % save_period == 0]
min_loss = df_select.min()
idx_min_loss = df_select.idxmin()
model.load_weights(out_dir + '/model/model-%03d.hdf5' % idx_min_loss)
# model.load_weights(out_dir + '/model/model-best.hdf5')
else:
# model.load_weights(out_dir + '/model-final.hdf5')
model.load_weights(out_dir + '/model/model-%03d.hdf5' % epoch_num)
# loss graph
lossgraph_dir = predict_dir + '/loss_graph'
os.makedirs(lossgraph_dir, exist_ok=True)
arr_loss = df.values
arr_epoch = df.index
if is_select_val:
init_epochs = [0, 10, int(epoch_num / 2), epoch_num - 200]
else:
init_epochs = [0, 10, epoch_num - 200, epoch_num - 100]
for init_epo in init_epochs:
if init_epo < 0:
continue
if init_epo >= epoch_num:
continue
plt.figure()
plt.plot(arr_epoch[init_epo:epoch_num], arr_loss[init_epo:epoch_num])
if is_select_min_loss_model:
plt.plot(idx_min_loss, min_loss, 'ro')
plt.xlabel('epoch')
plt.ylabel('loss')
plt.title('{} : epoch {} - {}'.format(df.name, init_epo + 1,
epoch_num))
plt.savefig(lossgraph_dir +
'/loss_{}-{}.pdf'.format(init_epo + 1, epoch_num))
# error compare txt
err_strings = 'index,type,MAE depth,MAE predict,RMSE depth,RMSE predict,SD AE depth,SD AE predict,SD RSE depth,SD RSE predict\n'
os.makedirs(predict_dir, exist_ok=True)
for test_idx in tqdm(data_idx_range):
if data_type is '0':
src_bgra = src_frame_dir + '/frame{:03d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/depth{:03d}.bmp'.format(test_idx)
src_depth_gt = src_gt_dir + '/gt{:03d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/shading{:03d}.bmp'.format(
test_idx)
elif data_type is '1':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '2':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '3':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
# read images
bgr = cv2.imread(src_bgra, -1) / 255.
bgr = bgr[:1200, :1200, :]
depth_img_gap = cv2.imread(src_depth_gap, -1)
depth_img_gap = depth_img_gap[:1200, :1200, :]
depth_gap = depth_tools.unpack_bmp_bgra_to_float(depth_img_gap)
depth_img_gt = cv2.imread(src_depth_gt, -1)
depth_img_gt = depth_img_gt[:1200, :1200, :]
depth_gt = depth_tools.unpack_bmp_bgra_to_float(depth_img_gt)
img_shape = bgr.shape[:2]
shading_bgr = cv2.imread(src_shading, 1)
shading_bgr = shading_bgr[:1200, :1200, :]
shading_gray = cv2.imread(src_shading, 0) # GrayScale
shading_gray = shading_gray[:1200, :1200]
shading = shading_gray
is_shading_available = shading > 0
mask_shading = is_shading_available * 1.0
depth_gap *= mask_shading
if is_shading_norm: # shading norm : mean 0, var 1
is_shading_available = shading > 8.0
mask_shading = is_shading_available * 1.0
mean_shading = np.sum(
shading * mask_shading) / np.sum(mask_shading)
var_shading = np.sum(
np.square((shading - mean_shading) *
mask_shading)) / np.sum(mask_shading)
std_shading = np.sqrt(var_shading)
shading = (shading - mean_shading) / std_shading
else:
shading = shading / 255.
depth_thre = depth_threshold
if is_input_coord:
coord_x = np.linspace(0, 1, img_size)
coord_y = np.linspace(0, 1, img_size)
grid_x, grid_y = np.meshgrid(coord_x, coord_y)
# merge bgr + depth_gap
if is_input_frame:
if is_input_depth:
bgrd = np.dstack([shading[:, :], depth_gap, bgr[:, :, 0]])
if is_input_coord:
bgrd = np.dstack([
shading[:, :], depth_gap, bgr[:, :, 0], grid_x, grid_y
])
else:
bgrd = np.dstack([shading[:, :], bgr[:, :, 0]])
else:
bgrd = np.dstack([shading[:, :], depth_gap])
# clip batches
b_top, b_left = batch_tl
b_h, b_w = batch_shape
top_coords = range(b_top, img_shape[0], b_h)
left_coords = range(b_left, img_shape[1], b_w)
# add test data
x_test = []
for top, left in product(top_coords, left_coords):
def clip_batch(img, top_left, size):
t, l, h, w = *top_left, *size
return img[t:t + h, l:l + w]
batch_test = clip_batch(bgrd, (top, left), batch_shape)
if is_input_depth or is_input_frame:
x_test.append(batch_test)
else:
x_test.append(batch_test[:, :, 0].reshape((*batch_shape, 1)))
# predict
x_test = np.array(x_test)[:]
predict = model.predict(x_test, batch_size=1) # w/o denormalization
decode_img = predict[0][:, :, 0:2]
# training types
is_gt_available = depth_gt > depth_thre
is_gap_unavailable = depth_gap < depth_thre
is_depth_close = np.logical_and(
np.abs(depth_gap - depth_gt) < difference_threshold,
is_gt_available)
is_to_interpolate = np.logical_and(is_gt_available, is_gap_unavailable)
train_segment = np.zeros(decode_img.shape[:2])
train_segment[is_depth_close] = 1
train_segment[is_to_interpolate] = 2
# mask = is_gt_available * 1.0 # GT
mask = is_depth_close * 1.0 # no-complement
# mask = is_train_area * 1.0 # complement
# delete mask edge
if is_edge_crop:
# kernel = np.ones((mask_edge_size, mask_edge_size), np.uint8)
# mask = cv2.erode(mask, kernel, iterations=1)
edge_size = mask_edge_size
mask_filter = np.zeros_like(mask)
for edge in range(1, edge_size):
edge_2 = edge * 2
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[:b_h - edge_2,
edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge:b_h - edge, edge_2:]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge_2:, edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge, edge:b_w -
edge] = mask[edge:b_h - edge, :b_w - edge_2]
mask *= mask_filter
for i in range(2):
for j in range(2):
mask_filter[edge * i:b_h - edge * (1 - i),
edge * j:b_w - edge *
(1 - j)] = mask[edge * (1 - i):b_h -
edge * i, edge *
(1 - j):b_h - edge * j]
mask *= mask_filter
mask_gt = is_gt_available * 1.0
mask_length = np.sum(mask)
# cv2.imwrite(predict_dir + '/mask-{:05d}.png'.format(test_idx),
# (mask * 255).astype(np.uint8))
predict_diff = decode_img[:, :, 0].copy()
if is_pred_smooth:
predict_depth = common_tools.gaussian_filter(
predict_diff, 2, 0.002)
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_diff_masked = predict_diff * mask
# predict normalization
if is_predict_norm_local:
patch_size = norm_patch_size
if is_norm_local_pix:
p = norm_patch_size
new_pred_diff = np.zeros_like(predict_diff_masked)
new_mask = mask.copy()
for i in range(p + 1, batch_shape[0] - p - 1):
for j in range(p + 1, batch_shape[1] - p - 1):
if not mask[i, j]:
new_pred_diff[i, j] = 0
continue
local_mask = mask[i - p:i + p + 1, j - p:j + p + 1]
local_gt_diff = gt_diff[i - p:i + p + 1,
j - p:j + p + 1]
local_pred = predict_diff_masked[i - p:i + p + 1,
j - p:j + p + 1]
local_mask_len = np.sum(local_mask)
patch_len = (p * 2 + 1)**2
if local_mask_len < patch_len * patch_rate / 100:
new_pred_diff[i, j] = 0
new_mask[i, j] = False
continue
local_mean_gt = np.sum(local_gt_diff) / local_mask_len
local_mean_pred = np.sum(local_pred) / local_mask_len
local_sd_gt = np.sqrt(
np.sum(np.square(local_gt_diff - local_mean_gt)) /
local_mask_len)
local_sd_pred = np.sqrt(
np.sum(np.square(local_pred - local_mean_pred)) /
local_mask_len)
if is_fix_inv_local:
new_local_gt = local_gt_diff - local_mean_gt
new_local_pred = (local_pred - local_mean_pred) * (
local_sd_gt / local_sd_pred)
new_local_pred_inv = new_local_pred.copy() * -1
new_local_err = np.sqrt(
np.sum(np.square(new_local_gt -
new_local_pred)))
new_local_err_inv = np.sqrt(
np.sum(
np.square(new_local_gt -
new_local_pred_inv)))
if new_local_err < new_local_err_inv:
new_pred_diff[
i,
j] = new_local_pred[p, p] + local_mean_gt
else:
new_pred_diff[i, j] = new_local_pred_inv[
p, p] + local_mean_gt
else:
new_pred_diff[i, j] = (
predict_diff[i, j] - local_mean_pred
) * (local_sd_gt / local_sd_pred) + local_mean_gt
predict_diff = new_pred_diff
mask = new_mask
mask[:p, :] = False
mask[batch_shape[0] - p:, :] = False
mask[:, :p] = False
mask[:, batch_shape[1] - p:] = False
mask *= 1.0
mask_length = np.sum(mask)
else:
for i in range(batch_shape[0] // p):
for j in range(batch_shape[1] // p):
local_mask = mask[p * i:p * (i + 1), p * j:p * (j + 1)]
local_gt_diff = gt_diff[p * i:p * (i + 1),
p * j:p * (j + 1)]
local_pred = predict_diff_masked[p * i:p * (i + 1),
p * j:p * (j + 1)]
local_mask_len = np.sum(local_mask)
if local_mask_len < 10:
predict_diff[p * i:p * (i + 1),
p * j:p * (j + 1)] = 0
continue
local_mean_gt = np.sum(local_gt_diff) / local_mask_len
local_mean_pred = np.sum(local_pred) / local_mask_len
local_sd_gt = np.sqrt(
np.sum(np.square(local_gt_diff - local_mean_gt)) /
local_mask_len)
local_sd_pred = np.sqrt(
np.sum(np.square(local_pred - local_mean_pred)) /
local_mask_len)
predict_diff[
p * i:p * (i + 1), p * j:p *
(j + 1)] = (local_pred - local_mean_pred) * (
local_sd_gt / local_sd_pred) + local_mean_gt
elif is_predict_norm:
mean_gt = np.sum(gt_diff) / mask_length
mean_predict = np.sum(predict_diff_masked) / mask_length
gt_diff -= mean_gt
predict_diff -= mean_predict
out_diff_R = predict_diff.copy() # save diff
sd_gt = np.sqrt(np.sum(np.square(gt_diff * mask)) / mask_length)
sd_predict = np.sqrt(
np.sum(np.square(predict_diff * mask)) / mask_length)
predict_diff *= sd_gt / sd_predict
predict_diff += mean_gt
###############
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_diff_masked = predict_diff * mask
# reverse predict
if is_pred_reverse:
predict_depth = predict_diff * -1.0 # reverse
# difference learn
predict_depth += depth_gap
predict_masked = predict_depth * mask
# ajust bias, calc error
if is_pred_ajust:
mean_depth_gt = np.sum(depth_gt_masked) / mask_length
mean_depth_pred = np.sum(predict_masked) / mask_length
predict_depth += mean_depth_gt - mean_depth_pred
predict_masked += mean_depth_gt - mean_depth_pred
# error
depth_err_abs_R = np.abs(depth_gt - depth_gap)
depth_err_sqr_R = np.square(depth_gt - depth_gap)
if is_pred_ajust:
predict_err_abs_R = np.abs(depth_gt - predict_depth)
predict_err_sqr_R = np.square(depth_gt - predict_depth)
else:
predict_err_abs_R = np.abs(depth_gt - predict_depth)
predict_err_sqr_R = np.square(depth_gt - predict_depth)
# error image
depth_err_R = depth_err_abs_R
predict_err_R = predict_err_abs_R
predict_err_masked_R = predict_err_R * mask
# Mean Absolute Error
predict_MAE_R = np.sum(predict_err_abs_R * mask) / mask_length
depth_MAE_R = np.sum(depth_err_abs_R * mask) / mask_length
# Mean Squared Error
predict_MSE_R = np.sum(predict_err_sqr_R * mask) / mask_length
depth_MSE_R = np.sum(depth_err_sqr_R * mask) / mask_length
# Root Mean Square Error
predict_RMSE_R = np.sqrt(predict_MSE_R)
depth_RMSE_R = np.sqrt(depth_MSE_R)
#################################################################
predict_depth = predict_diff
# difference learn
predict_depth += depth_gap
predict_masked = predict_depth * mask
# ajust bias, calc error
if is_pred_ajust:
mean_depth_gt = np.sum(depth_gt_masked) / mask_length
mean_depth_pred = np.sum(predict_masked) / mask_length
predict_depth += mean_depth_gt - mean_depth_pred
predict_masked += mean_depth_gt - mean_depth_pred
# error
depth_err_abs = np.abs(depth_gt - depth_gap)
depth_err_sqr = np.square(depth_gt - depth_gap)
depth_err_diff = depth_gt - depth_gap
if is_pred_ajust:
predict_err_abs = np.abs(depth_gt - predict_depth)
predict_err_sqr = np.square(depth_gt - predict_depth)
else:
predict_err_abs = np.abs(depth_gt - predict_depth)
predict_err_sqr = np.square(depth_gt - predict_depth)
# error image ##################################################
depth_err = depth_err_abs
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
#################################################################
# Mean Absolute Error
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
depth_MAE = np.sum(depth_err_abs * mask) / mask_length
# Mean Squared Error
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
depth_MSE = np.sum(depth_err_sqr * mask) / mask_length
# Root Mean Square Error
predict_RMSE = np.sqrt(predict_MSE)
depth_RMSE = np.sqrt(depth_MSE)
# SD
sd_ae_depth = np.sqrt(
np.sum(np.square(depth_err_abs - depth_MAE) * mask) / mask_length)
sd_ae_pred = np.sqrt(
np.sum(np.square(predict_err_abs - predict_MAE) * mask) /
mask_length)
sd_rse_depth = np.sqrt(
np.sum(np.square(np.sqrt(depth_err_sqr) - depth_RMSE) * mask) /
mask_length)
sd_rse_pred = np.sqrt(
np.sum(np.square(np.sqrt(predict_err_sqr) - predict_RMSE) * mask) /
mask_length)
if is_pred_pix_reverse: # Inverse on Pix
if is_reverse_threshold: # Inverse by Threshold
predict_err_abs = np.where(
np.logical_and(predict_err_abs > r_thre,
predict_err_abs > predict_err_abs_R),
predict_err_abs_R, predict_err_abs)
predict_err_sqr = np.where(
np.logical_and(predict_err_sqr > r_thre**2,
predict_err_sqr > predict_err_sqr_R),
predict_err_sqr_R, predict_err_sqr)
else:
predict_err_abs = np.where(predict_err_abs < predict_err_abs_R,
predict_err_abs, predict_err_abs_R)
predict_err_sqr = np.where(predict_err_sqr < predict_err_sqr_R,
predict_err_sqr, predict_err_sqr_R)
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
predict_RMSE = np.sqrt(predict_MSE)
elif is_pred_patch_inverse: # Inverse on Patch
p = norm_patch_size
for i in range(batch_shape[0] // p):
for j in range(batch_shape[1] // p):
err_abs_patch = predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_abs_patch_R = predict_err_abs_R[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_sqr_patch = predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)]
err_sqr_patch_R = predict_err_sqr_R[p * i:p * (i + 1),
p * j:p * (j + 1)]
if np.sum(err_sqr_patch) < np.sum(err_abs_patch_R):
predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_abs_patch
predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_sqr_patch
else:
predict_err_abs[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_abs_patch_R
predict_err_sqr[p * i:p * (i + 1),
p * j:p * (j + 1)] = err_sqr_patch_R
elif is_pred_reverse:
if predict_RMSE > predict_RMSE_R:
depth_err = depth_err_R
predict_err = predict_err_R
predict_err_masked = predict_err_masked_R
predict_MAE = predict_MAE_R
depth_MAE = depth_MAE_R
predict_MSE = predict_MSE_R
depth_MSE = depth_MSE_R
predict_RMSE = predict_RMSE_R
depth_RMSE = depth_RMSE_R
out_diff = out_diff_R
# output difference
if is_save_diff:
net_out_dir = predict_dir + '/net_output/'
os.makedirs(net_out_dir, exist_ok=True)
if test_idx in save_img_range:
np.save(net_out_dir + '{:05d}.npy'.format(test_idx), out_diff)
out_diff_depth = out_diff + 1
xyz_out_diff = depth_tools.convert_depth_to_coords(
out_diff_depth, cam_params)
depth_tools.dump_ply(
net_out_dir + '{:05d}.ply'.format(test_idx),
xyz_out_diff.reshape(-1, 3).tolist())
err_strings += str(test_idx)
if test_idx in test_range:
# if test_idx not in train_range:
err_strings += ',test,'
else:
err_strings += ',train,'
for string in [
depth_MAE, predict_MAE, depth_RMSE, predict_RMSE, sd_ae_depth,
sd_ae_pred, sd_rse_depth, sd_rse_pred
]:
err_strings += str(string) + ','
err_strings.rstrip(',')
err_strings = err_strings[:-1] + '\n'
predict_loss = predict_MAE
depth_loss = depth_MAE
# save predicted depth
if is_save_depth_img:
if test_idx in save_img_range:
predict_bmp = depth_tools.pack_float_to_bmp_bgra(
predict_masked)
cv2.imwrite(
predict_dir + '/predict-{:03d}.bmp'.format(test_idx),
predict_bmp)
# save ply
if is_save_ply:
if test_idx in save_ply_range:
if is_masked_ply:
xyz_predict_masked = depth_tools.convert_depth_to_coords(
predict_masked, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict_masked-%03d.ply' % test_idx,
xyz_predict_masked.reshape(-1, 3).tolist())
else:
xyz_predict = depth_tools.convert_depth_to_coords(
predict_depth, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict-%03d.ply' % test_idx,
xyz_predict.reshape(-1, 3).tolist())
# save fig
# if test_idx in test_range:
if test_idx in save_img_range:
# layout
fig = plt.figure(figsize=(7, 5))
gs_master = GridSpec(nrows=2,
ncols=2,
height_ratios=[1, 1],
width_ratios=[3, 0.1])
gs_1 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[0, 0],
wspace=0.05,
hspace=0)
gs_2 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[1, 0],
wspace=0.05,
hspace=0)
gs_3 = GridSpecFromSubplotSpec(nrows=2,
ncols=1,
subplot_spec=gs_master[0:1, 1])
ax_enh0 = fig.add_subplot(gs_1[0, 0])
ax_enh1 = fig.add_subplot(gs_1[0, 1])
ax_enh2 = fig.add_subplot(gs_1[0, 2])
ax_misc0 = fig.add_subplot(gs_2[0, 0])
ax_err_gap = fig.add_subplot(gs_2[0, 1])
ax_err_pred = fig.add_subplot(gs_2[0, 2])
ax_cb0 = fig.add_subplot(gs_3[0, 0])
ax_cb1 = fig.add_subplot(gs_3[1, 0])
for ax in [
ax_enh0, ax_enh1, ax_enh2, ax_misc0, ax_err_gap,
ax_err_pred
]:
ax.axis('off')
# close up
mean = np.sum(depth_gt_masked) / mask_length
vmin_s, vmax_s = mean - vm_range, mean + vm_range
ax_enh0.imshow(depth_gt_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh1.imshow(depth_gap * mask,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh2.imshow(predict_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh0.set_title('Ground Truth')
ax_enh1.set_title('Low-res')
ax_enh2.set_title('Ours')
# misc
ax_misc0.imshow(shading_bgr[:, :, ::-1])
# error
is_scale_err_mm = True
if is_scale_err_mm:
scale_err = 1000
else:
scale_err = 1
vmin_e, vmax_e = 0, vm_e_range * scale_err
ax_err_gap.imshow(depth_err * mask * scale_err,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
ax_err_pred.imshow(predict_err_masked * scale_err,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
# colorbar
plt.tight_layout()
fig.savefig(io.BytesIO())
cb_offset = -0.05
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_s,
vmax=vmax_s),
cmap='jet'),
cax=ax_cb0)
im_pos, cb_pos = ax_enh2.get_position(), ax_cb1.get_position()
ax_cb0.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
ax_cb0.set_xlabel(' [m]')
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_e,
vmax=vmax_e),
cmap='jet'),
cax=ax_cb1)
im_pos, cb_pos = ax_err_pred.get_position(), ax_cb1.get_position()
ax_cb1.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
if is_scale_err_mm:
ax_cb1.set_xlabel(' [mm]')
else:
ax_cb1.set_xlabel(' [m]')
plt.savefig(predict_dir + '/result-{:03d}.png'.format(test_idx),
dpi=300)
plt.close()
with open(predict_dir + '/error_compare.txt', mode='w') as f:
f.write(err_strings)
compare_error.compare_error(predict_dir + '/')
def getNewFile(file_path):
file_hierarchy = file_path.split('.')
new_file_path = '.'.join(file_hierarchy[:-1] + ['ply'])
print(new_file_path)
return new_file_path
cam_params = {
'focal_length': 364.8738098144531, # [pixel]
'center_x': 259.96539306640625,
'center_y': 212.30979919433594
}
parser = argparse.ArgumentParser()
parser.add_argument('dir', help='directory')
args = parser.parse_args()
dire = args.dir
if not dire[0] == 'C':
dire = cf.dir_save + dire
read_files = sorted(glob.glob(dire + '/*.bmp'))
for file in read_files:
img = cv2.imread(file, -1)
depth = tool.unpack_bmp_bgra_to_float(img) / 1000 # mm -> m
xyz = tool.convert_depth_to_coords_no_pix_size(depth, cam_params)
tool.dump_ply(getNewFile(file), xyz.reshape(-1, 3).tolist())
def main():
if data_type is '0':
src_rec_dir = src_dir + '/rec'
src_rec_dir = src_dir + '/rec_ajusted'
src_frame_dir = src_dir + '/frame'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shading'
elif data_type is '1':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
elif data_type is '2':
src_frame_dir = src_dir + '/proj'
src_gt_dir = src_dir + '/gt'
src_shading_dir = src_dir + '/shade'
src_rec_dir = src_dir + '/rec'
if is_input_depth:
if is_input_frame:
ch_num = 3
else:
ch_num = 2
else:
if is_input_frame:
ch_num = 2
else:
ch_num = 1
# model configuration
if net_type is '0':
model = network.build_unet_model(batch_shape, ch_num)
elif net_type is '1':
model = network.build_resnet_model(batch_shape, ch_num)
elif net_type is '2':
model = network.build_dense_resnet_model(batch_shape, ch_num)
# log
df_log = pd.read_csv(out_dir + '/training.log')
if is_select_val:
df = df_log['val_loss']
else:
df = df_log['loss']
df.index = df.index + 1
# select minimum loss model
is_select_min_loss_model = True
is_select_min_loss_model = False
if is_select_min_loss_model:
df_select = df[df.index > epoch_num - select_range]
df_select = df_select[df_select.index <= epoch_num]
df_select = df_select[df_select.index % save_period == 0]
min_loss = df_select.min()
idx_min_loss = df_select.idxmin()
model.load_weights(out_dir + '/model/model-%03d.hdf5' % idx_min_loss)
# model.load_weights(out_dir + '/model/model-best.hdf5')
else:
model.load_weights(out_dir + '/model-final.hdf5')
# loss graph
lossgraph_dir = predict_dir + '/loss_graph'
os.makedirs(lossgraph_dir, exist_ok=True)
arr_loss = df.values
arr_epoch = df.index
if is_select_val:
init_epochs = [0, 10, int(epoch_num / 2), epoch_num - 200]
else:
init_epochs = [0, 10, epoch_num - 200, epoch_num - 100]
for init_epo in init_epochs:
if init_epo < 0:
continue
if init_epo >= epoch_num:
continue
plt.figure()
plt.plot(arr_epoch[init_epo:epoch_num], arr_loss[init_epo:epoch_num])
if is_select_min_loss_model:
plt.plot(idx_min_loss, min_loss, 'ro')
plt.xlabel('epoch')
plt.ylabel('loss')
plt.title('{} : epoch {} - {}'.format(df.name, init_epo + 1,
epoch_num))
plt.savefig(lossgraph_dir +
'/loss_{}-{}.pdf'.format(init_epo + 1, epoch_num))
# error compare txt
err_strings = 'index,type,MAE depth,MAE predict,RMSE depth,RMSE predict\n'
os.makedirs(predict_dir, exist_ok=True)
for test_idx in tqdm(data_idx_range):
if data_type is '0':
src_bgra = src_frame_dir + '/frame{:03d}.png'.format(test_idx)
# src_depth_gap = src_rec_dir + '/depth{:03d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/depth{:03d}.bmp'.format(test_idx)
src_depth_gt = src_gt_dir + '/gt{:03d}.bmp'.format(test_idx)
# src_shading = src_shading_dir + '/shading{:03d}.png'.format(test_idx)
src_shading = src_shading_dir + '/shading{:03d}.bmp'.format(
test_idx)
elif data_type is '1':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.png'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
elif data_type is '2':
src_bgra = src_frame_dir + '/{:05d}.png'.format(test_idx)
src_depth_gt = src_gt_dir + '/{:05d}.bmp'.format(test_idx)
src_shading = src_shading_dir + '/{:05d}.bmp'.format(test_idx)
src_depth_gap = src_rec_dir + '/{:05d}.bmp'.format(test_idx)
# read images
bgr = cv2.imread(src_bgra, -1) / 255.
bgr = bgr[:1200, :1200, :]
depth_img_gap = cv2.imread(src_depth_gap, -1)
depth_img_gap = depth_img_gap[:1200, :1200, :]
# depth_gap = depth_tools.unpack_png_to_float(depth_img_gap)
depth_gap = depth_tools.unpack_bmp_bgra_to_float(depth_img_gap)
depth_img_gt = cv2.imread(src_depth_gt, -1)
depth_img_gt = depth_img_gt[:1200, :1200, :]
depth_gt = depth_tools.unpack_bmp_bgra_to_float(depth_img_gt)
img_shape = bgr.shape[:2]
# shading_bgr = cv2.imread(src_shading, -1)
shading_bgr = cv2.imread(src_shading, 1)
shading_bgr = shading_bgr[:1200, :1200, :]
shading_gray = cv2.imread(src_shading, 0) # GrayScale
shading_gray = shading_gray[:1200, :1200]
shading = shading_gray
is_shading_available = shading > 0
mask_shading = is_shading_available * 1.0
# depth_gap = depth_gt[:, :] * mask_shading
# mean_depth = np.sum(depth_gap) / np.sum(mask_shading)
# depth_gap = mean_depth * mask_shading
depth_gap *= mask_shading
if is_shading_norm: # shading norm : mean 0, var 1
is_shading_available = shading > 16.0
mask_shading = is_shading_available * 1.0
mean_shading = np.sum(
shading * mask_shading) / np.sum(mask_shading)
var_shading = np.sum(
np.square((shading - mean_shading) *
mask_shading)) / np.sum(mask_shading)
std_shading = np.sqrt(var_shading)
shading = (shading - mean_shading) / std_shading
else:
shading = shading / 255.
# is_depth_available = depth_gt > depth_threshold
# mask_depth = is_depth_available * 1.0
# depth_gap = np.zeros_like(depth_gt)
# mean_depth = np.sum(depth_gt) / np.sum(mask_depth)
# depth_gap = mean_depth * mask_depth
# normalization (may not be needed)
# norm_factor = depth_gap.max()
# depth_gap /= norm_factor
# depth_gt /= depth_gt.max()
depth_thre = depth_threshold
# merge bgr + depth_gap
if is_input_frame:
if is_input_depth:
bgrd = np.dstack([shading[:, :], depth_gap, bgr[:, :, 0]])
else:
bgrd = np.dstack([shading[:, :], bgr[:, :, 0]])
else:
bgrd = np.dstack([shading[:, :], depth_gap])
# clip batches
b_top, b_left = batch_tl
b_h, b_w = batch_shape
top_coords = range(b_top, img_shape[0], b_h)
left_coords = range(b_left, img_shape[1], b_w)
# add training data
x_test = []
for top, left in product(top_coords, left_coords):
def clip_batch(img, top_left, size):
t, l, h, w = *top_left, *size
return img[t:t + h, l:l + w]
batch_test = clip_batch(bgrd, (top, left), batch_shape)
if is_input_depth or is_input_frame:
x_test.append(batch_test)
else:
x_test.append(batch_test[:, :, 0].reshape((*batch_shape, 1)))
# predict
x_test = np.array(x_test)[:]
predict = model.predict(x_test, batch_size=1) # w/o denormalization
# predict = model.predict(
# x_test, batch_size=1) * norm_factor # w/ denormalization
# decode_img = np.hstack([
# np.vstack([predict[0], predict[2]]),
# np.vstack([predict[1], predict[3]])
# ])[:, :, 0:2]
decode_img = predict[0][:, :, 0:2]
# training types
is_gt_available = depth_gt > depth_thre
is_gap_unavailable = depth_gap < depth_thre
is_depth_close = np.logical_and(
np.abs(depth_gap - depth_gt) < difference_threshold,
is_gt_available)
is_to_interpolate = np.logical_and(is_gt_available, is_gap_unavailable)
train_segment = np.zeros(decode_img.shape[:2])
train_segment[is_depth_close] = 1
train_segment[is_to_interpolate] = 2
# is_train_area = np.logical_or(is_depth_close, is_to_interpolate)
# mask = is_gt_available * 1.0 # GT
mask = is_depth_close * 1.0 # no-complement
# mask = is_train_area * 1.0 # complement
# delete mask edge
edge_size = mask_edge_size
mask_filter = np.zeros_like(mask)
for edge in range(1, edge_size):
edge_2 = edge * 2
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[:b_h - edge_2, edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge:b_h - edge, edge_2:]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge_2:, edge:b_w - edge]
mask *= mask_filter
mask_filter[edge:b_h - edge,
edge:b_w - edge] = mask[edge:b_h - edge, :b_w - edge_2]
mask *= mask_filter
for i in range(2):
for j in range(2):
mask_filter[edge * i:b_h - edge * (1 - i),
edge * j:b_w - edge *
(1 - j)] = mask[edge * (1 - i):b_h - edge * i,
edge * (1 - j):b_h - edge * j]
mask *= mask_filter
mask_gt = is_gt_available * 1.0
mask_length = np.sum(mask)
# cv2.imwrite(predict_dir + '/mask-{:05d}.png'.format(test_idx),
# (mask * 255).astype(np.uint8))
predict_depth = decode_img[:, :, 0].copy()
if is_pred_smooth:
predict_depth = common_tools.gaussian_filter(
predict_depth, 2, 0.002)
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_masked = predict_depth * mask
# scale
predict_depth /= difference_scaling
predict_masked /= difference_scaling
# reverse predict
if is_pred_reverse:
# predict normalization
if is_predict_norm:
mean_gt = np.sum(gt_diff) / mask_length
mean_predict = np.sum(predict_masked) / mask_length
gt_diff -= mean_gt
predict_depth -= mean_predict
predict_depth *= -1.0 # reverse
out_diff_R = predict_depth.copy() # save diff
sd_gt = np.sqrt(
np.sum(np.square((gt_diff) * mask)) / mask_length)
sd_predict = np.sqrt(
np.sum(np.square((predict_depth) * mask)) / mask_length)
predict_depth *= sd_gt / sd_predict
predict_depth += mean_gt
predict_masked = predict_depth * mask
# difference learn
predict_depth += depth_gap
predict_masked += depth_gap * mask
# ajust bias, calc error
if is_pred_ajust:
mean_gt_diff = np.sum(gt_diff) / mask_length
mean_out_dif = np.sum(out_diff * mask) / mask_length
bias_out_dif = mean_out_dif - mean_gt_diff
out_diff_ajusted = out_diff - bias_out_dif
# error
depth_err_abs_R = np.abs(depth_gt - depth_gap)
depth_err_sqr_R = np.square(depth_gt - depth_gap)
if is_pred_ajust:
predict_err_abs_R = np.abs(gt_diff - out_diff_ajusted)
predict_err_sqr_R = np.square(gt_diff - out_diff_ajusted)
else:
predict_err_abs_R = np.abs(depth_gt - predict_depth)
predict_err_sqr_R = np.square(depth_gt - predict_depth)
# error image
depth_err_R = depth_err_abs_R
predict_err_R = predict_err_abs_R
predict_err_masked_R = predict_err_R * mask
# Mean Absolute Error
predict_MAE_R = np.sum(predict_err_abs_R * mask) / mask_length
depth_MAE_R = np.sum(depth_err_abs_R * mask) / mask_length
# Mean Squared Error
predict_MSE_R = np.sum(predict_err_sqr_R * mask) / mask_length
depth_MSE_R = np.sum(depth_err_sqr_R * mask) / mask_length
# Root Mean Square Error
predict_RMSE_R = np.sqrt(predict_MSE_R)
depth_RMSE_R = np.sqrt(depth_MSE_R)
#################################################################
predict_depth = decode_img[:, :, 0].copy()
if is_pred_smooth:
predict_depth = common_tools.gaussian_filter(
predict_depth, 2, 0.002)
depth_gt_masked = depth_gt * mask
gt_diff = (depth_gt - depth_gap) * mask
predict_masked = predict_depth * mask
# scale
predict_depth /= difference_scaling
predict_masked /= difference_scaling
# predict normalization
if is_predict_norm:
mean_gt = np.sum(gt_diff) / mask_length
mean_predict = np.sum(predict_masked) / mask_length
gt_diff -= mean_gt
predict_depth -= mean_predict
out_diff = predict_depth.copy() # save diff
sd_gt = np.sqrt(np.sum(np.square((gt_diff) * mask)) / mask_length)
sd_predict = np.sqrt(
np.sum(np.square((predict_depth) * mask)) / mask_length)
predict_depth *= sd_gt / sd_predict
predict_depth += mean_gt
predict_masked = predict_depth * mask
# difference learn
predict_depth += depth_gap
predict_masked += depth_gap * mask
# ajust bias, calc error
if is_pred_ajust:
mean_gt_diff = np.sum(gt_diff) / mask_length
mean_out_dif = np.sum(out_diff * mask) / mask_length
bias_out_dif = mean_out_dif - mean_gt_diff
out_diff_ajusted = out_diff - bias_out_dif
# error
depth_err_abs = np.abs(depth_gt - depth_gap)
depth_err_sqr = np.square(depth_gt - depth_gap)
if is_pred_ajust:
predict_err_abs = np.abs(gt_diff - out_diff_ajusted)
predict_err_sqr = np.square(gt_diff - out_diff_ajusted)
else:
predict_err_abs = np.abs(depth_gt - predict_depth)
predict_err_sqr = np.square(depth_gt - predict_depth)
# error image
depth_err = depth_err_abs
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
# Mean Absolute Error
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
depth_MAE = np.sum(depth_err_abs * mask) / mask_length
# Mean Squared Error
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
depth_MSE = np.sum(depth_err_sqr * mask) / mask_length
# Root Mean Square Error
predict_RMSE = np.sqrt(predict_MSE)
depth_RMSE = np.sqrt(depth_MSE)
if is_pred_pix_reverse:
if is_reverse_threshold:
predict_err_abs = np.where(
np.logical_and(predict_err_abs > r_thre,
predict_err_abs > predict_err_abs_R),
predict_err_abs_R, predict_err_abs)
predict_err_sqr = np.where(
np.logical_and(predict_err_sqr > r_thre**2,
predict_err_sqr > predict_err_sqr_R),
predict_err_sqr_R, predict_err_sqr)
else:
predict_err_abs = np.where(predict_err_abs < predict_err_abs_R,
predict_err_abs, predict_err_abs_R)
predict_err_sqr = np.where(predict_err_sqr < predict_err_sqr_R,
predict_err_sqr, predict_err_sqr_R)
predict_err = predict_err_abs
predict_err_masked = predict_err * mask
predict_MAE = np.sum(predict_err_abs * mask) / mask_length
predict_MSE = np.sum(predict_err_sqr * mask) / mask_length
predict_RMSE = np.sqrt(predict_MSE)
elif is_pred_reverse:
if predict_RMSE > predict_RMSE_R:
depth_err = depth_err_R
predict_err = predict_err_R
predict_err_masked = predict_err_masked_R
predict_MAE = predict_MAE_R
depth_MAE = depth_MAE_R
predict_MSE = predict_MSE_R
depth_MSE = depth_MSE_R
predict_RMSE = predict_RMSE_R
depth_RMSE = depth_RMSE_R
out_diff = out_diff_R
# output difference
if is_save_diff:
net_out_dir = predict_dir + '/net_output/'
os.makedirs(net_out_dir, exist_ok=True)
if test_idx in save_img_range:
np.save(net_out_dir + '{:05d}.npy'.format(test_idx), out_diff)
out_diff_depth = out_diff + 1
xyz_out_diff = depth_tools.convert_depth_to_coords(
out_diff_depth, cam_params)
depth_tools.dump_ply(
net_out_dir + '{:05d}.ply'.format(test_idx),
xyz_out_diff.reshape(-1, 3).tolist())
err_strings += str(test_idx)
if test_idx in test_range:
# if test_idx not in train_range:
err_strings += ',test,'
else:
err_strings += ',train,'
for string in [depth_MAE, predict_MAE, depth_RMSE, predict_RMSE]:
err_strings += str(string) + ','
err_strings.rstrip(',')
err_strings = err_strings[:-1] + '\n'
predict_loss = predict_MAE
depth_loss = depth_MAE
# save predicted depth
if test_idx in save_img_range:
predict_bmp = depth_tools.pack_float_to_bmp_bgra(predict_masked)
cv2.imwrite(predict_dir + '/predict-{:03d}.bmp'.format(test_idx),
predict_bmp)
# save ply
if is_save_ply:
if test_idx in save_ply_range:
if is_masked_ply:
xyz_predict_masked = depth_tools.convert_depth_to_coords(
predict_masked, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict_masked-%03d.ply' % test_idx,
xyz_predict_masked.reshape(-1, 3).tolist())
else:
xyz_predict = depth_tools.convert_depth_to_coords(
predict_depth, cam_params)
depth_tools.dump_ply(
predict_dir + '/predict-%03d.ply' % test_idx,
xyz_predict.reshape(-1, 3).tolist())
# save fig
# if test_idx in test_range:
if test_idx in save_img_range:
# layout
fig = plt.figure(figsize=(7, 4))
gs_master = GridSpec(nrows=2,
ncols=2,
height_ratios=[1, 1],
width_ratios=[3, 0.1])
gs_1 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[0, 0],
wspace=0.05,
hspace=0)
gs_2 = GridSpecFromSubplotSpec(nrows=1,
ncols=3,
subplot_spec=gs_master[1, 0],
wspace=0.05,
hspace=0)
gs_3 = GridSpecFromSubplotSpec(nrows=2,
ncols=1,
subplot_spec=gs_master[0:1, 1])
ax_enh0 = fig.add_subplot(gs_1[0, 0])
ax_enh1 = fig.add_subplot(gs_1[0, 1])
ax_enh2 = fig.add_subplot(gs_1[0, 2])
ax_misc0 = fig.add_subplot(gs_2[0, 0])
ax_err_gap = fig.add_subplot(gs_2[0, 1])
ax_err_pred = fig.add_subplot(gs_2[0, 2])
ax_cb0 = fig.add_subplot(gs_3[0, 0])
ax_cb1 = fig.add_subplot(gs_3[1, 0])
for ax in [
ax_enh0, ax_enh1, ax_enh2, ax_misc0, ax_err_gap,
ax_err_pred
]:
ax.axis('off')
# close up
mean = np.sum(depth_gt_masked) / mask_length
vmin_s, vmax_s = mean - vm_range, mean + vm_range
ax_enh0.imshow(depth_gt_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh1.imshow(depth_gap * mask,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
ax_enh2.imshow(predict_masked,
cmap='jet',
vmin=vmin_s,
vmax=vmax_s)
# misc
# ax_misc0.imshow(shading_bgr[:, :, ::-1])
ax_misc0.imshow(
np.dstack([shading_gray, shading_gray, shading_gray]))
# error
vmin_e, vmax_e = 0, vm_e_range
ax_err_gap.imshow(depth_err * mask,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
ax_err_pred.imshow(predict_err_masked,
cmap='jet',
vmin=vmin_e,
vmax=vmax_e)
# title
# ax_enh0.set_title('Groud Truth')
# ax_enh1.set_title('Input Depth')
# ax_enh2.set_title('Predict')
# ax_err_gap.set_title('')
# ax_err_pred.set_title('')
# colorbar
plt.tight_layout()
fig.savefig(io.BytesIO())
cb_offset = -0.05
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_s,
vmax=vmax_s),
cmap='jet'),
cax=ax_cb0)
im_pos, cb_pos = ax_enh2.get_position(), ax_cb1.get_position()
ax_cb0.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
plt.colorbar(ScalarMappable(colors.Normalize(vmin=vmin_e,
vmax=vmax_e),
cmap='jet'),
cax=ax_cb1)
im_pos, cb_pos = ax_err_pred.get_position(), ax_cb1.get_position()
ax_cb1.set_position([
cb_pos.x0 + cb_offset, im_pos.y0, cb_pos.x1 - cb_pos.x0,
im_pos.y1 - im_pos.y0
])
plt.savefig(predict_dir + '/result-{:03d}.png'.format(test_idx),
dpi=300)
plt.close()
with open(predict_dir + '/error_compare.txt', mode='w') as f:
f.write(err_strings)
compare_error.compare_error(predict_dir + '/')
compare_error.compare_error(predict_dir + '/', error='MAE')
out_rec_dir = src_dir + '/rec_original/rec_{}_{}/'.format(thre, bias)
os.makedirs(out_rec_dir, exist_ok=True)
img_rec = cv2.imread(in_rec_dir + 'check13-depthimage.png', -1)
cv2.imwrite(out_rec_dir + 'depth{:03d}.png'.format(idx), img_rec)
depth_rec = depth_tools.unpack_png_to_float(img_rec)
is_depth_close = np.logical_and(
np.abs(depth_rec - depth_gt) < difference_threshold,
is_gt_available)
list_score.append(np.sum(is_depth_close))
list_comp.append(out_rec_dir)
best_rec_dir = list_comp[np.argmax(list_score)]
best_img_rec = cv2.imread(best_rec_dir + 'depth{:03d}.png'.format(idx), -1)
cv2.imwrite(src_rec_dir + '/depth{:03d}.png'.format(idx), best_img_rec)
best_depth_rec = depth_tools.unpack_png_to_float(best_img_rec)
is_depth_close = np.logical_and(
np.abs(best_depth_rec - depth_gt) < difference_threshold,
is_gt_available)
mask = is_depth_close * 1.0
best_depth_rec_masked = best_depth_rec * mask
xyz_rec = depth_tools.convert_depth_to_coords(best_depth_rec, cam_params)
xyz_rec_masked = depth_tools.convert_depth_to_coords(best_depth_rec_masked, cam_params)
depth_tools.dump_ply(src_dir + '/ply_rec/rec{:03d}.ply'.format(idx), xyz_rec.reshape(-1, 3).tolist())
depth_tools.dump_ply(src_dir + '/ply_rec_masked/rec_masked{:03d}.ply'.format(idx), xyz_rec_masked.reshape(-1, 3).tolist())
