def eval_prob(self,
prob,
disp_save_path,
display=False,
interpolate=False):
prob = np.reshape(prob, [self.h, self.w, self.d, 2])
prob = fte.get_cost(prob)
probr = fte.get_right_cost(prob)
self.do_post(prob, probr, disp_save_path, display, interpolate)
def eval_prob(self,
prob,
disp_save_path,
display=False,
interpolate=False,
isLocalExp=True):
prob = np.reshape(prob, [self.h, self.w, self.d, 2])
prob = fte.get_cost(prob) # now in shape [imgH, imgW, ndisp]
probr = fte.get_right_cost(prob) # now in shape [imgH, imgW, ndisp]
#print (prob.shape, probr.shape)
self.do_post(prob, probr, disp_save_path, display, interpolate,
isLocalExp)
def __extract_features_lr(self, census, ncc, sobel, sad):
dims = census.shape
censusr = fte.get_right_cost(census)
census = np.reshape(census, [dims[0] * dims[1], dims[2]])
censusr = np.reshape(censusr, [dims[0] * dims[1], dims[2]])
nccr = fte.get_right_cost(ncc)
ncc = np.reshape(ncc, [dims[0] * dims[1], dims[2]])
nccr = np.reshape(nccr, [dims[0] * dims[1], dims[2]])
sobelr = fte.get_right_cost(sobel)
sobel = np.reshape(sobel, [dims[0] * dims[1], dims[2]])
sobelr = np.reshape(sobelr, [dims[0] * dims[1], dims[2]])
sadr = fte.get_right_cost(sad)
sad = np.reshape(sad, [dims[0] * dims[1], dims[2]])
sadr = np.reshape(sadr, [dims[0] * dims[1], dims[2]])
features = np.empty((dims[0] * dims[1] * dims[2], 20))
features[:, 0] = np.reshape(census, [dims[0] * dims[1] * dims[2]])
features[:, 1] = np.reshape(ncc, [dims[0] * dims[1] * dims[2]])
features[:, 2] = np.reshape(sobel, [dims[0] * dims[1] * dims[2]])
features[:, 3] = np.reshape(sad, [dims[0] * dims[1] * dims[2]])
features[:, 4] = np.reshape(fte.extract_ratio(census, .01),
[dims[0] * dims[1] * dims[2]])
features[:, 5] = np.reshape(fte.extract_ratio(ncc, 1.01),
[dims[0] * dims[1] * dims[2]])
features[:, 6] = np.reshape(fte.extract_ratio(sobel, .01),
[dims[0] * dims[1] * dims[2]])
features[:, 7] = np.reshape(fte.extract_ratio(sad, .01),
[dims[0] * dims[1] * dims[2]])
features[:, 8] = np.reshape(
fte.extract_likelihood(census, self.__cens_sigma),
[dims[0] * dims[1] * dims[2]])
features[:,
9] = np.reshape(fte.extract_likelihood(ncc, self.__ncc_sigma),
[dims[0] * dims[1] * dims[2]])
features[:, 10] = np.reshape(
fte.extract_likelihood(sobel, self.__sad_sigma),
[dims[0] * dims[1] * dims[2]])
features[:, 11] = np.reshape(
fte.extract_likelihood(sad, self.__sad_sigma),
[dims[0] * dims[1] * dims[2]])
r_pkrn = fte.extract_ratio(censusr, .01)
r_pkrn = np.reshape(r_pkrn, [dims[0], dims[1], dims[2]])
features[:, 12] = np.reshape(fte.get_left_cost(r_pkrn),
[dims[0] * dims[1] * dims[2]])
r_aml = fte.extract_likelihood(censusr, self.__cens_sigma)
r_aml = np.reshape(r_aml, [dims[0], dims[1], dims[2]])
features[:, 16] = np.reshape(fte.get_left_cost(r_aml),
[dims[0] * dims[1] * dims[2]])
del censusr
r_pkrn = fte.extract_ratio(nccr, 1.01)
r_pkrn = np.reshape(r_pkrn, [dims[0], dims[1], dims[2]])
features[:, 13] = np.reshape(fte.get_left_cost(r_pkrn),
[dims[0] * dims[1] * dims[2]])
r_aml = fte.extract_likelihood(nccr, self.__ncc_sigma)
r_aml = np.reshape(r_aml, [dims[0], dims[1], dims[2]])
features[:, 17] = np.reshape(fte.get_left_cost(r_aml),
[dims[0] * dims[1] * dims[2]])
del nccr
r_pkrn = fte.extract_ratio(sobelr, .01)
r_pkrn = np.reshape(r_pkrn, [dims[0], dims[1], dims[2]])
features[:, 14] = np.reshape(fte.get_left_cost(r_pkrn),
[dims[0] * dims[1] * dims[2]])
r_aml = fte.extract_likelihood(sobelr, self.__sad_sigma)
r_aml = np.reshape(r_aml, [dims[0], dims[1], dims[2]])
features[:, 18] = np.reshape(fte.get_left_cost(r_aml),
[dims[0] * dims[1] * dims[2]])
del sobelr
r_pkrn = fte.extract_ratio(sadr, .01)
r_pkrn = np.reshape(r_pkrn, [dims[0], dims[1], dims[2]])
features[:, 15] = np.reshape(fte.get_left_cost(r_pkrn),
[dims[0] * dims[1] * dims[2]])
r_aml = fte.extract_likelihood(sadr, self.__sad_sigma)
r_aml = np.reshape(r_aml, [dims[0], dims[1], dims[2]])
features[:, 19] = np.reshape(fte.get_left_cost(r_aml),
[dims[0] * dims[1] * dims[2]])
del sadr
return features
def __postprocessing_mem_interp(self,
imgl,
imgr,
cost,
direction,
display=False):
r_cost = fte.get_right_cost(cost)
post.InitCUDA()
start = time.time()
cross_array_init = np.zeros(
(4, imgl.shape[0], imgl.shape[1])).astype(np.float32)
imgl_d = post.CUDA_float_array(imgl)
imgr_d = post.CUDA_float_array(imgr)
rightc = np.zeros((4, imgr.shape[0], imgr.shape[1])).astype(np.float32)
leftc_d = post.CUDA_float_array(cross_array_init)
rightc_d = post.CUDA_float_array(cross_array_init)
post.cross(imgl_d, leftc_d, self.__L1, self.__tau1)
post.cross(imgr_d, rightc_d, self.__L1, self.__tau1)
###compute right disparity
r_cost_d = post.CUDA_double_array(r_cost)
temp_cost_d = post.CUDA_double_array(cost)
tmp = np.zeros((cost.shape[1], cost.shape[2]))
tmp_d = post.CUDA_double_array(tmp)
post.swap_axis_back(r_cost_d, temp_cost_d)
cc = r_cost_d.get_array()
post.CUDA_copy_double(temp_cost_d, r_cost_d)
for i in range(0, self.__cbca_i1):
post.cbca(rightc_d, leftc_d, r_cost_d, temp_cost_d, -1 * direction)
post.CUDA_copy_double(temp_cost_d, r_cost_d)
if display:
print "CBCA 1 right"
cc = r_cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
post.swap_axis(r_cost_d, temp_cost_d)
post.CUDA_copy_double(temp_cost_d, r_cost_d)
for i in range(0, self.__sgm_i):
temp_cost_d.set_to_zero()
tmp_d.set_to_zero()
post.sgm(imgl_d, imgr_d, r_cost_d, temp_cost_d, tmp_d, self.__pi1,
self.__pi2, self.__tau_so, self.__alpha1, self.__sgm_q1,
self.__sgm_q2, -1 * direction)
post.CUDA_divide_double(temp_cost_d, 4)
post.CUDA_copy_double(temp_cost_d, r_cost_d)
post.swap_axis_back(r_cost_d, temp_cost_d)
post.CUDA_copy_double(temp_cost_d, r_cost_d)
if display:
print "SGM right"
cc = r_cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
for i in range(0, self.__cbca_i2):
post.cbca(rightc_d, leftc_d, r_cost_d, temp_cost_d, -1 * direction)
post.CUDA_copy_double(temp_cost_d, r_cost_d)
if display:
print "CBCA2 right"
cc = r_cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
del temp_cost_d
cc = r_cost_d.get_array()
r_disp = np.argmin(cc, axis=0).astype(np.float32)
del cc
del r_cost_d
r_disp_d = post.CUDA_float_array(r_disp)
cost_d = post.CUDA_double_array(cost)
temp_cost_d = post.CUDA_double_array(cost)
post.swap_axis_back(cost_d, temp_cost_d)
post.CUDA_copy_double(temp_cost_d, cost_d)
for i in range(0, self.__cbca_i1):
post.cbca(leftc_d, rightc_d, cost_d, temp_cost_d, direction)
post.CUDA_copy_double(temp_cost_d, cost_d)
if display:
print "CBCA 1"
cc = cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
post.swap_axis(cost_d, temp_cost_d)
post.CUDA_copy_double(temp_cost_d, cost_d)
tmp = np.zeros((cost.shape[1], cost.shape[2]))
tmp_d = post.CUDA_double_array(tmp)
for i in range(0, self.__sgm_i):
temp_cost_d.set_to_zero()
tmp_d.set_to_zero()
post.sgm(imgl_d, imgr_d, cost_d, temp_cost_d, tmp_d, self.__pi1,
self.__pi2, self.__tau_so, self.__alpha1, self.__sgm_q1,
self.__sgm_q2, direction)
post.CUDA_divide_double(temp_cost_d, 4)
post.CUDA_copy_double(temp_cost_d, cost_d)
post.swap_axis_back(cost_d, temp_cost_d)
post.CUDA_copy_double(temp_cost_d, cost_d)
if display:
print "SGM"
cc = cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
for i in range(0, self.__cbca_i2):
post.cbca(leftc_d, rightc_d, cost_d, temp_cost_d, direction)
post.CUDA_copy_double(temp_cost_d, cost_d)
if display:
print "CBCA2"
cc = cost_d.get_array()
ddisp = np.argmin(cc, axis=0)
pfm.show(ddisp)
cc = cost_d.get_array()
disp_l = np.argmin(cc, axis=0).astype(np.float32)
out_s = cc.shape[0]
del cc
disp_d = post.CUDA_float_array(disp_l)
disp_temp = post.CUDA_float_array(disp_l)
post.subpixel_enchancement(disp_d, cost_d, disp_temp)
outlier = np.zeros(
(r_disp.shape[0], r_disp.shape[1])).astype(np.float32)
outlier_d = post.CUDA_float_array(outlier)
post.outlier_detection(disp_d, r_disp_d, outlier_d, out_s)
post.interpolate_mismatch(disp_d, outlier_d, disp_temp)
post.CUDA_copy_float(disp_temp, disp_d)
post.interpolate_occlusion(disp_d, outlier_d, disp_temp)
post.CUDA_copy_float(disp_temp, disp_d)
post.CUDA_copy_float(disp_temp, disp_d)
if display:
disp = disp_d.get_array()
print "Subpixel"
pfm.show(disp)
for i in range(0, self.__median_i):
disp = post.median2d(disp_d, disp_temp, self.__median_w)
post.CUDA_copy_float(disp_temp, disp_d)
if display:
disp = disp_d.get_array()
print "Median"
pfm.show(disp)
post.mean2d(disp_d, disp_temp, self.__gaussian(self.__blur_sigma),
self.__blur_t)
post.CUDA_copy_float(disp_temp, disp_d)
if display:
disp = disp_d.get_array()
print "Bilateral"
pfm.show(disp)
disp = disp_d.get_array()
end = time.time()
print(end - start)
return disp
def __create_samples_mem(self, iml, imr, index):
w, h, ndisp = self.__read_calib(index)
gt = pfm.load(self.__data_path + self.__trainset[index] +
"/disp0GT.pfm")[0]
gt = np.reshape(gt, [gt.shape[0] * gt.shape[1], 1])
infs = np.concatenate((np.argwhere(gt == np.inf), np.argwhere(gt < 0)),
axis=0)
# infs = np.empty((0,2))
gt = np.delete(gt, infs[:, 0], axis=0)
gt = np.round(gt)
gt = gt.astype(np.int32)
#print ("loading gt ... gt shape = {}".format(gt.shape))
random_samples = fte.generate_d_indices(gt, ndisp, 1)
assert random_samples.shape[
1] == 3 # here : 3 means 1 positive sample + 2 negative ones;
samples = np.empty(
(random_samples.shape[0] * random_samples.shape[1], 21))
#print ("samples shape = {}".format(samples.shape))
#print ("staring census ...")
################## Census compute ##########################################################
#print ('w = {}, h = {}, ndisp = {}, censW = {}'.format(w, h, ndisp, self.__censw))
#print ('last iml = {}, last imr = {}'.format(iml[h-1,w-1], imr[h-1,w-1]))
costcensus = mtc.census(iml, imr, ndisp,
self.__censw).astype(np.float64)
#print ('costcensus shape = {}'.format(costcensus.shape))
costcensusR = fte.get_right_cost(costcensus)
costcensus = np.reshape(
costcensus,
[costcensus.shape[0] * costcensus.shape[1], costcensus.shape[2]])
costcensusR = np.reshape(costcensusR, [
costcensusR.shape[0] * costcensusR.shape[1], costcensusR.shape[2]
])
costcensus = np.delete(costcensus, infs[:, 0], axis=0)
samples[:, 0] = fte.get_samples(costcensus, random_samples)
samples[:, 4] = fte.extract_ratio(costcensus, random_samples, .01)
samples[:, 8] = fte.extract_likelihood(costcensus, random_samples,
self.__cens_sigma)
del costcensus
#print ("census done!")
r_pkrn = fte.extract_ratio(costcensusR, .01)
r_pkrn = np.reshape(r_pkrn, [h, w, ndisp])
r_pkrn = fte.get_left_cost(r_pkrn)
r_pkrn = np.reshape(
r_pkrn, [r_pkrn.shape[0] * r_pkrn.shape[1], r_pkrn.shape[2]])
r_pkrn = np.delete(r_pkrn, infs[:, 0], axis=0)
samples[:, 12] = fte.get_samples(r_pkrn, random_samples)
del r_pkrn
r_aml = fte.extract_likelihood(costcensusR, self.__cens_sigma)
r_aml = np.reshape(r_aml, [h, w, ndisp])
r_aml = fte.get_left_cost(r_aml)
r_aml = np.reshape(r_aml,
[r_aml.shape[0] * r_aml.shape[1], r_aml.shape[2]])
r_aml = np.delete(r_aml, infs[:, 0], axis=0)
samples[:, 16] = fte.get_samples(r_aml, random_samples)
del r_aml
del costcensusR
######################################################################################
############################### NCC compute ##########################################
costncc = mtc.nccNister(iml, imr, ndisp, self.__nccw)
costncc = fte.swap_axes(costncc)
costnccR = fte.get_right_cost(costncc)
costncc = np.reshape(
costncc, [costncc.shape[0] * costncc.shape[1], costncc.shape[2]])
costnccR = np.reshape(
costnccR,
[costnccR.shape[0] * costnccR.shape[1], costnccR.shape[2]])
costncc = np.delete(costncc, infs[:, 0], axis=0)
samples[:, 1] = fte.get_samples(costncc, random_samples)
samples[:, 5] = fte.extract_ratio(costncc, random_samples, 1.01)
samples[:, 9] = fte.extract_likelihood(costncc, random_samples,
self.__ncc_sigma)
del costncc
r_pkrn = fte.extract_ratio(costnccR, 1.01)
r_pkrn = np.reshape(r_pkrn, [h, w, ndisp])
r_pkrn = fte.get_left_cost(r_pkrn)
r_pkrn = np.reshape(
r_pkrn, [r_pkrn.shape[0] * r_pkrn.shape[1], r_pkrn.shape[2]])
r_pkrn = np.delete(r_pkrn, infs[:, 0], axis=0)
samples[:, 13] = fte.get_samples(r_pkrn, random_samples)
del r_pkrn
r_aml = fte.extract_likelihood(costnccR, self.__ncc_sigma)
r_aml = np.reshape(r_aml, [h, w, ndisp])
r_aml = fte.get_left_cost(r_aml)
r_aml = np.reshape(r_aml,
[r_aml.shape[0] * r_aml.shape[1], r_aml.shape[2]])
r_aml = np.delete(r_aml, infs[:, 0], axis=0)
samples[:, 17] = fte.get_samples(r_aml, random_samples)
del r_aml
del costnccR
######################################################################################
############################### Sob compute ##########################################
sobl = mtc.sobel(iml)
sobr = mtc.sobel(imr)
costsob = mtc.sadsob(sobl, sobr, ndisp, 5).astype(np.float64)
costsob = fte.swap_axes(costsob)
costsobR = fte.get_right_cost(costsob)
costsob = np.reshape(
costsob, [costsob.shape[0] * costsob.shape[1], costsob.shape[2]])
costsobR = np.reshape(
costsobR,
[costsobR.shape[0] * costsobR.shape[1], costsobR.shape[2]])
costsob = np.delete(costsob, infs[:, 0], axis=0)
samples[:, 2] = fte.get_samples(costsob, random_samples)
samples[:, 6] = fte.extract_ratio(costsob, random_samples, .01)
samples[:, 10] = fte.extract_likelihood(costsob, random_samples,
self.__sad_sigma)
del costsob
r_pkrn = fte.extract_ratio(costsobR, .01)
r_pkrn = np.reshape(r_pkrn, [h, w, ndisp])
r_pkrn = fte.get_left_cost(r_pkrn)
r_pkrn = np.reshape(
r_pkrn, [r_pkrn.shape[0] * r_pkrn.shape[1], r_pkrn.shape[2]])
r_pkrn = np.delete(r_pkrn, infs[:, 0], axis=0)
samples[:, 14] = fte.get_samples(r_pkrn, random_samples)
del r_pkrn
r_aml = fte.extract_likelihood(costsobR, self.__sad_sigma)
r_aml = np.reshape(r_aml, [h, w, ndisp])
r_aml = fte.get_left_cost(r_aml)
r_aml = np.reshape(r_aml,
[r_aml.shape[0] * r_aml.shape[1], r_aml.shape[2]])
r_aml = np.delete(r_aml, infs[:, 0], axis=0)
samples[:, 18] = fte.get_samples(r_aml, random_samples)
del r_aml
del costsobR
######################################################################################
############################### Sad compute ##########################################
costsad = mtc.zsad(iml, imr, ndisp, self.__sadw).astype(np.float64)
costsad = fte.swap_axes(costsad)
costsadR = fte.get_right_cost(costsad)
costsad = np.reshape(
costsad, [costsad.shape[0] * costsad.shape[1], costsad.shape[2]])
costsadR = np.reshape(
costsadR,
[costsadR.shape[0] * costsadR.shape[1], costsadR.shape[2]])
costsad = np.delete(costsad, infs[:, 0], axis=0)
samples[:, 3] = fte.get_samples(costsad, random_samples)
samples[:, 7] = fte.extract_ratio(costsad, random_samples, .01)
samples[:, 11] = fte.extract_likelihood(costsad, random_samples,
self.__sad_sigma)
del costsad
r_pkrn = fte.extract_ratio(costsadR, .01)
r_pkrn = np.reshape(r_pkrn, [h, w, ndisp])
r_pkrn = fte.get_left_cost(r_pkrn)
r_pkrn = np.reshape(
r_pkrn, [r_pkrn.shape[0] * r_pkrn.shape[1], r_pkrn.shape[2]])
r_pkrn = np.delete(r_pkrn, infs[:, 0], axis=0)
samples[:, 15] = fte.get_samples(r_pkrn, random_samples)
del r_pkrn
r_aml = fte.extract_likelihood(costsadR, self.__sad_sigma)
r_aml = np.reshape(r_aml, [h, w, ndisp])
r_aml = fte.get_left_cost(r_aml)
r_aml = np.reshape(r_aml,
[r_aml.shape[0] * r_aml.shape[1], r_aml.shape[2]])
r_aml = np.delete(r_aml, infs[:, 0], axis=0)
samples[:, 19] = fte.get_samples(r_aml, random_samples)
del r_aml
del costsadR
samples[:, 20] = fte.generate_labels(random_samples)
return samples