def main(argv):
# TF Record
datafiles = FLAGS.data_dir + '/test/' + FLAGS.subject_id + '.tfrecord'
dataset = tf.data.TFRecordDataset(datafiles)
dataset = dataset.map(_parse_function_ifind)
# dataset = dataset.repeat()
# dataset = dataset.shuffle(FLAGS.queue_buffer)
dataset = dataset.batch(1)
image, vec, qt, AP1, AP2, AP3 = dataset.make_one_shot_iterator().get_next()
# Nifti Volume
subject_path = FLAGS.scan_dir + '/test/' + FLAGS.subject_id + '.nii.gz'
fixed_image_sitk_tmp = sitk.ReadImage(subject_path, sitk.sitkFloat32)
fixed_image_sitk = sitk.GetImageFromArray(
sitk.GetArrayFromImage(fixed_image_sitk_tmp))
fixed_image_sitk = sitk.RescaleIntensity(fixed_image_sitk, 0, 1) # * 255.
# Network Definition
image_input = tf.placeholder(shape=[1, 224, 224, 1], dtype=tf.float32)
image_resized = tf.image.resize_images(image, size=[224, 224])
if FLAGS.loss == 'PoseNet':
y_pred, _ = inception.inception_v3(image_input, num_classes=7)
quaternion_pred, translation_pred = tf.split(y_pred, [4, 3], axis=1)
sess = tf.Session()
ckpt_file = tf.train.latest_checkpoint(FLAGS.model_dir)
tf.train.Saver().restore(sess, ckpt_file)
print('restoring parameters from', ckpt_file)
SO3_GROUP = SpecialOrthogonalGroup(3)
for i in range(FLAGS.n_iter):
_image, _image_resized, _quaternion_true, _translation_true = \
sess.run([image, image_resized, qt, AP2], )
_quaternion_pred_sample = []
_translation_pred_sample = []
for j in range(FLAGS.n_samples):
_quaternion_pred_i, _translation_pred_i = \
sess.run([quaternion_pred, translation_pred],
feed_dict={image_input: _image_resized})
_quaternion_pred_sample.append(_quaternion_pred_i)
_translation_pred_sample.append(_translation_pred_i)
print(_quaternion_pred_i, _translation_pred_i)
_quaternion_pred_sample = np.vstack(_quaternion_pred_sample)
_rotvec_pred_sample = SO3_GROUP.rotation_vector_from_quaternion(
_quaternion_pred_sample)
_rotvec_pred = SO3_GROUP.left_canonical_metric.mean(
_rotvec_pred_sample)
_quaternion_pred = SO3_GROUP.quaternion_from_rotation_vector(
_rotvec_pred)
_translation_pred = np.mean(np.vstack(_translation_pred_sample),
axis=0)
# _quaternion_pred_variance = SO3_GROUP.left_canonical_metric.variance(_rotvec_pred_sample)
_translation_pred_variance = np.var(
np.vstack(_translation_pred_sample), axis=0)
rx = SO3_GROUP.matrix_from_quaternion(_quaternion_pred)[0]
tx = _translation_pred[0] * 60.
image_true = np.squeeze(_image)
image_pred = resample_sitk(fixed_image_sitk, rx, tx)
imageio.imsave('imgdump/image_{}_true.png'.format(i), _image[0,
...])
imageio.imsave('imgdump/image_{}_pred.png'.format(i), image_pred)
calc_psnr(image_pred, image_true)
calc_mse(image_pred, image_true)
calc_ssim(image_pred, image_true)
calc_correlation(image_pred, image_true)
elif FLAGS.loss == 'AP':
y_pred, _ = inception.inception_v3(image_input, num_classes=9)
AP1_pred, AP2_pred, AP3_pred = tf.split(y_pred, 3, axis=1)
sess = tf.Session()
ckpt_file = tf.train.latest_checkpoint(FLAGS.model_dir)
tf.train.Saver().restore(sess, ckpt_file)
print('restoring parameters from', ckpt_file)
for i in range(FLAGS.n_iter):
_image, _image_resized, _AP1, _AP2, _AP3 = \
sess.run([image, image_resized, AP1, AP2, AP3])
_AP1_sample = []
_AP2_sample = []
_AP3_sample = []
for j in range(FLAGS.n_samples):
_AP1_pred_i, _AP2_pred_i, _AP3_pred_i = \
sess.run([AP1_pred, AP2_pred, AP3_pred],
feed_dict={image_input: _image_resized})
_AP1_sample.append(_AP1_pred_i)
_AP2_sample.append(_AP2_pred_i)
_AP3_sample.append(_AP3_pred_i)
_AP1_pred = np.mean(np.vstack(_AP1_sample), axis=0)
_AP2_pred = np.mean(np.vstack(_AP2_sample), axis=0)
_AP3_pred = np.mean(np.vstack(_AP3_sample), axis=0)
_AP1_pred_variance = np.var(np.vstack(_AP1_sample), axis=0)
_AP2_pred_variance = np.var(np.vstack(_AP2_sample), axis=0)
_AP3_pred_variance = np.var(np.vstack(_AP3_sample), axis=0)
dist_ap1 = np.linalg.norm(_AP1 - _AP1_pred)
dist_ap2 = np.linalg.norm(_AP2 - _AP2_pred)
dist_ap3 = np.linalg.norm(_AP3 - _AP3_pred)
rx = matrix_from_anchor_points(_AP1_pred[0], _AP2_pred[0],
_AP3_pred[0])
tx = _AP2_pred[0] * 60.
image_true = np.squeeze(_image)
image_pred = resample_sitk(fixed_image_sitk, rx, tx)
imageio.imsave('imgdump/image_{}_true.png'.format(i), _image[0,
...])
imageio.imsave('imgdump/image_{}_pred.png'.format(i), image_pred)
calc_psnr(image_pred, image_true)
calc_mse(image_pred, image_true)
calc_ssim(image_pred, image_true)
calc_correlation(image_pred, image_true)
elif FLAGS.loss == 'SE3':
y_pred, _ = inception.inception_v3(image_input, num_classes=6)
sess = tf.Session()
ckpt_file = tf.train.latest_checkpoint(FLAGS.model_dir)
tf.train.Saver().restore(sess, ckpt_file)
print('restoring parameters from', ckpt_file)
SO3_GROUP = SpecialOrthogonalGroup(3)
SE3_GROUP = SpecialEuclideanGroup(3)
for i in range(FLAGS.n_iter):
print(i)
_image, _image_resized, _rvec, _tvec = \
sess.run([image, image_resized, vec, AP2])
_y_pred_sample = []
for j in range(FLAGS.n_samples):
_y_pred_i = sess.run([y_pred],
feed_dict={image_input: _image_resized})
_y_pred_sample.append(_y_pred_i[0])
_y_pred_sample = np.vstack(_y_pred_sample)
_y_pred = SE3_GROUP.left_canonical_metric.mean(_y_pred_sample)
_y_pred_variance = SE3_GROUP.left_canonical_metric.variance(
_y_pred_sample)
rx = SO3_GROUP.matrix_from_rotation_vector(_y_pred[0, :3])[0]
tx = _y_pred[0, 3:] * 60.
image_true = np.squeeze(_image)
image_pred = resample_sitk(fixed_image_sitk, rx, tx)
imageio.imsave('imgdump/image_{}_true.png'.format(i), _image[0,
...])
imageio.imsave('imgdump/image_{}_pred.png'.format(i), image_pred)
calc_psnr(image_pred, image_true)
calc_mse(image_pred, image_true)
calc_ssim(image_pred, image_true)
calc_correlation(image_pred, image_true)
else:
print('Invalid Option:', FLAGS.loss)
raise SystemExit
def main(argv):
# TF Record
dataset = tf.data.TFRecordDataset(FLAGS.data_dir +
'/dataset_test.tfrecords')
dataset = dataset.map(_parse_function_kingscollege)
# dataset = dataset.repeat()
# dataset = dataset.shuffle(FLAGS.queue_buffer)
dataset = dataset.batch(1)
image, vec, pose_q, pose_x = dataset.make_one_shot_iterator().get_next()
# Network Definition
image_resized = tf.image.resize_images(image, size=[224, 224])
if FLAGS.loss == 'PoseNet':
y_pred, _ = inception.inception_v3(image_resized,
num_classes=7,
is_training=False)
quaternion_pred, translation_pred = tf.split(y_pred, [4, 3], axis=1)
sess = tf.Session()
ckpt_file = tf.train.latest_checkpoint(FLAGS.model_dir)
tf.train.Saver().restore(sess, ckpt_file)
print('restoring parameters from', ckpt_file)
i = 0
results = []
try:
while True:
_image, _quaternion_true, _translation_true, _quaternion_pred, _translation_pred = \
sess.run([image, pose_q, pose_x, quaternion_pred, translation_pred])
# Compute Individual Sample Error
q1 = _quaternion_true / np.linalg.norm(_quaternion_true)
q2 = _quaternion_pred / np.linalg.norm(_quaternion_pred)
d = abs(np.sum(np.multiply(q1, q2)))
theta = 2. * np.arccos(d) * 180. / np.pi
error_x = np.linalg.norm(_translation_true - _translation_pred)
results.append([error_x, theta])
print('Iteration:', i, 'Error XYZ (m):', error_x,
'Error Q (degrees):', theta)
i = i + 1
except tf.errors.OutOfRangeError:
print('End of Test Data')
results = np.stack(results)
results = np.median(results, axis=0)
print('Error XYZ (m):', results[0], 'Error Q (degrees):', results[1])
elif FLAGS.loss == 'SE3':
y_pred, _ = inception.inception_v3(image_resized,
num_classes=6,
is_training=False)
sess = tf.Session()
ckpt_file = tf.train.latest_checkpoint(FLAGS.model_dir)
tf.train.Saver().restore(sess, ckpt_file)
print('restoring parameters from', ckpt_file)
SO3_GROUP = SpecialOrthogonalGroup(3)
SE3_GROUP = SpecialEuclideanGroup(3)
metric = InvariantMetric(group=SE3_GROUP,
inner_product_mat_at_identity=np.eye(6),
left_or_right='left')
i = 0
results = []
_y_pred_i = []
_y_true_i = []
_se3_err_i = []
try:
while True:
_image, _rvec, _qvec, _tvec, _y_pred = \
sess.run([image, vec, pose_q, pose_x, y_pred])
_quaternion_true = _qvec
_quaternion_pred = SO3_GROUP.quaternion_from_rotation_vector(
_y_pred[0, :3])[0]
# Compute Individual Sample Error
q1 = _quaternion_true / np.linalg.norm(_quaternion_true)
q2 = _quaternion_pred / np.linalg.norm(_quaternion_pred)
d = abs(np.sum(np.multiply(q1, q2)))
theta = 2. * np.arccos(d) * 180. / np.pi
error_x = np.linalg.norm(_tvec - _y_pred[0, 3:])
results.append([error_x, theta])
# SE3 compute
_y_true = np.concatenate((_rvec, _tvec), axis=-1)
se3_dist = metric.squared_dist(_y_pred, _y_true)[0]
_y_pred_i.append(_y_pred)
_y_true_i.append(_y_true)
_se3_err_i.append(
SE3_GROUP.compose(SE3_GROUP.inverse(_y_true), _y_pred))
print('Iteration:', i, 'Error XYZ (m):', error_x,
'Error Q (degrees):', theta, 'SE3 dist:', se3_dist)
i = i + 1
except tf.errors.OutOfRangeError:
print('End of Test Data')
# Calculate SE3 Error Weights
err_vec = np.vstack(_se3_err_i)
err_weights = np.diag(np.linalg.inv(np.cov(err_vec.T)))
err_weights = err_weights / np.linalg.norm(err_weights)
print(err_weights)
results = np.stack(results)
results = np.median(results, axis=0)
print('Error XYZ (m):', results[0], 'Error Q (degrees):', results[1])
else:
print('Invalid Option:', FLAGS.loss)
raise SystemExit
