def calc_sparse_depth_loss(self,
sparse_depth,
p_world_hat,
mask_pred,
reduction_method,
loss={},
eval_mode=False):
''' Calculates the sparse depth loss.
Args:
sparse_depth (dict): dictionary for sparse depth loss calculation
p_world_hat (tensor): predicted world points
mask_pred (tensor): mask for predicted values
reduction_method (string): how to reduce the loss tensor
loss (dict): loss dictionary
eval_mode (bool): whether to use eval mode
'''
if self.lambda_sparse_depth != 0:
p_world = sparse_depth['p_world']
depth_gt = sparse_depth['depth_gt']
camera_mat = sparse_depth['camera_mat']
world_mat = sparse_depth['world_mat']
scale_mat = sparse_depth['scale_mat']
# Shortscuts
batch_size, n_points, _ = p_world.shape
if self.depth_loss_on_world_points:
loss_sparse_depth = losses.l2_loss(
p_world_hat[mask_pred], p_world[mask_pred],
reduction_method) * self.lambda_sparse_depth / batch_size
else:
d_pred_cam = transform_to_camera_space(p_world_hat, camera_mat,
world_mat,
scale_mat)[:, :, -1]
loss_sparse_depth = losses.l1_loss(
d_pred_cam[mask_pred], depth_gt[mask_pred],
reduction_method, feat_dim=False) * \
self.lambda_sparse_depth / batch_size
if eval_mode:
if self.depth_loss_on_world_points:
loss_sparse_depth_val = losses.l2_loss(
p_world_hat[mask_pred], p_world[mask_pred], 'mean') * \
self.lambda_sparse_depth
else:
d_pred_cam = transform_to_camera_space(
p_world_hat, camera_mat, world_mat, scale_mat)[:, :,
-1]
loss_sparse_depth_val = losses.l1_loss(
d_pred_cam[mask_pred],
depth_gt[mask_pred],
'mean',
feat_dim=False) * self.lambda_sparse_depth
loss['loss_sparse_depth_val'] = loss_sparse_depth_val
loss['loss'] += loss_sparse_depth
loss['loss_sparse_depth'] = loss_sparse_depth
def calc_depth_loss(self, mask_depth, depth_img, pixels,
camera_mat, world_mat, scale_mat, p_world_hat,
reduction_method, loss={}, eval_mode=False):
''' Calculates the depth loss.
Args:
mask_depth (tensor): mask for depth loss
depth_img (tensor): depth image
pixels (tensor): sampled pixels in range [-1, 1]
camera_mat (tensor): camera matrix
world_mat (tensor): world matrix
scale_mat (tensor): scale matrix
p_world_hat (tensor): predicted world points
reduction_method (string): how to reduce the loss tensor
loss (dict): loss dictionary
eval_mode (bool): whether to use eval mode
'''
if self.lambda_depth != 0 and mask_depth.sum() > 0:
batch_size, n_pts, _ = p_world_hat.shape
loss_depth_val = torch.tensor(10)
# For depth values, we have to check again if all values are valid
# as we potentially train with sparse depth maps
depth_gt, mask_gt_depth = get_tensor_values(
depth_img, pixels, squeeze_channel_dim=True, with_mask=True)
mask_depth &= mask_gt_depth
if self.depth_loss_on_world_points:
# Applying L2 loss on world points results in the same as
# applying L1 on the depth values with scaling (see Sup. Mat.)
p_world = transform_to_world(
pixels, depth_gt.unsqueeze(-1), camera_mat, world_mat,
scale_mat)
loss_depth = losses.l2_loss(
p_world_hat[mask_depth], p_world[mask_depth],
reduction_method) * self.lambda_depth / batch_size
if eval_mode:
loss_depth_val = losses.l2_loss(
p_world_hat[mask_depth], p_world[mask_depth],
'mean') * self.lambda_depth
else:
d_pred = transform_to_camera_space(
p_world_hat, camera_mat, world_mat, scale_mat)[:, :, -1]
loss_depth = losses.l1_loss(
d_pred[mask_depth], depth_gt[mask_depth],
reduction_method, feat_dim=False) * \
self.lambda_depth / batch_size
if eval_mode:
loss_depth_val = losses.l1_loss(
d_pred[mask_depth], depth_gt[mask_depth],
'mean', feat_dim=False) * self.lambda_depth
loss['loss'] += loss_depth
loss['loss_depth'] = loss_depth
if eval_mode:
loss['loss_depth_eval'] = loss_depth_val