def main():
fnames = ['aloe-texture', 'cones-texture', 'rocks1-texture', 'teddy-texture', 'garnics1-texture', 'box-1-texture', 'scene05-texture', 'scene01-texture',
'table1-texture', 'blue-pan-texture', 'red-plate-texture', 'lampshade1-texture', 'breakfast-1-texture', 'plastic-texture', 'cups1-texture']
path = './texture-evaluation/texture-values/'
for fname in fnames:
arr = np.loadtxt(path+fname+'.dat', dtype=float)
plt.plot_array('Texture', arr, 2, 6, path + 'plots/' + fname)
def main():
fnames = [
'aloe-texture', 'cones-texture', 'rocks1-texture', 'teddy-texture',
'garnics1-texture', 'box-1-texture', 'scene05-texture',
'scene01-texture', 'table1-texture', 'blue-pan-texture',
'red-plate-texture', 'lampshade1-texture', 'breakfast-1-texture',
'plastic-texture', 'cups1-texture'
]
path = './texture-evaluation/texture-values/'
for fname in fnames:
arr = np.loadtxt(path + fname + '.dat', dtype=float)
plt.plot_array('Texture', arr, 2, 6, path + 'plots/' + fname)
def view_disparity(path, disparity_min, disparity_max, occlusion_range):
arr_sparse_disparity_incons = abs(np.loadtxt(path+'sparse_disparity_incons.dat'))
arr_sparse_disparity_cons = abs(np.loadtxt(path+'sparse_disparity_cons.dat'))
arr_average_disparity = abs(np.loadtxt(path+'average-disparity.dat'))
arr_average_disparity_lines = abs(np.loadtxt(path+'average-disparity-lines.dat'))
arr_edge_disparity = abs(np.loadtxt(path+'edge-disparity.dat'))
arr_edge_disparity_final = abs(np.loadtxt(path+'edge-disparity-final.dat'))
arr_initial_disparity = abs(np.loadtxt(path+'initial-disparity.dat'))
arr_sigma_map = np.loadtxt(path+'sigma-map.dat')
arr_occlusion_map = np.loadtxt(path+'occlusion-map.dat')
arr_outliers_map = np.loadtxt(path+'outliers-map.dat')
arr_edge_disparity_mask = np.loadtxt(path+'edge-disparity-mask.dat')
arr_sparse_filtered = abs(np.loadtxt(path+'sparse-disparity-filtered.dat'))
# get size
height = arr_sparse_disparity_cons.shape[0]
width = arr_sparse_disparity_cons.shape[1]
print 'height = ', height
print 'width = ', width
# plot inconsistent sparse disparity map
min_val = disparity_min
max_val = disparity_max
arr_sparse_disparity_incons[0:height,0:occlusion_range] = 'nan'
arr_average_disparity[0:height,0:occlusion_range] = 'nan'
arr_average_disparity_lines[0:height,0:occlusion_range] = 'nan'
arr_edge_disparity[0:height,0:occlusion_range] = 'nan'
arr_edge_disparity_final[0:height,0:occlusion_range] = 'nan'
arr_initial_disparity[0:height,0:occlusion_range] = 'nan'
arr_occlusion_map[0:height,0:occlusion_range] = 'nan'
arr_edge_disparity_mask[0:height,0:occlusion_range] = 'nan'
arr_sigma_map[0:height,0:occlusion_range] = 'nan'
arr_outliers_map[0:height,0:occlusion_range] = 'nan'
plt.plot_array('Inconsistent sparse disparity map (phase-based)', arr_sparse_disparity_incons, min_val, max_val, path+'sparse-disparity-incons')
plt.plot_array('Consistent sparse disparity map (phase-based)', arr_sparse_disparity_cons, min_val, max_val, path+'sparse-disparity-cons')
plt.plot_array('Filtered sparse disparity map', arr_sparse_filtered, min_val, max_val, path+'sparse-disparity-filtered')
plt.plot_array('Average disparity', arr_average_disparity, min_val, max_val, path+'average-disparity')
plt.plot_array('Average disparity (lines)', arr_average_disparity_lines, min_val, max_val, path+'average-disparity-lines')
# make borders thicker
extend_border_horizontal(arr_edge_disparity)
extend_border_vertical(arr_edge_disparity)
extend_border_horizontal(arr_edge_disparity_final)
extend_border_vertical(arr_edge_disparity_final)
extend_sigma_horizontal(arr_sigma_map,0.3)
extend_sigma_vertical(arr_sigma_map,0.3)
# replace zeros by NaN values
for i in range(1,height):
for j in range(1,width):
if(arr_edge_disparity_final[i,j] != 0):
arr_initial_disparity[i,j] = arr_edge_disparity_final[i,j]
if(arr_edge_disparity[i,j] == 0):
arr_edge_disparity[i,j] = 'nan'
if(arr_edge_disparity_final[i,j] == 0):
arr_edge_disparity_final[i,j] = 'nan'
if(arr_edge_disparity_mask[i,j] == 0):
arr_edge_disparity_mask[i,j] = 'nan'
if(arr_occlusion_map[i,j] == 0):
arr_occlusion_map[i,j] = 'nan'
if(arr_outliers_map[i,j] == 0):
arr_outliers_map[i,j] = 'nan'
plt.plot_array('Edge disparity', arr_edge_disparity, min_val, max_val, path+'edge-disparity')
plt.plot_array('Final edge disparity', arr_edge_disparity_final, min_val, max_val, path+'edge-disparity-final')
plt.plot_array('Initial disparity', arr_initial_disparity, min_val, max_val, path+'initial-disparity')
#plot_array('Sigma map', arr_sigma_map, arr_sigma_map.min(), arr_sigma_map.max(), 'sigma-map')
plt.plot_array('Sigma map', arr_sigma_map, 0, 1, path+'sigma-map')
#plot_array('Occlusion map', arr_occlusion_map, arr_occlusion_map.min(), arr_occlusion_map.max(), 'occlusion-map')
plt.plot_array('Occlusion map', arr_occlusion_map, 0, 1, path+'occlusion-map')
plt.plot_array('Outliers map', arr_outliers_map, 0, 1, path+'outliers-map')
plt.plot_array('Edge disparity mask', arr_edge_disparity_mask, 0, 1, path+'edge-disparity-mask')
def surface_fitting_robust_lsq(local_folder, arr_segments, arr_init_disp, arr_edge_disp, disp_min, disp_max):
# get segment labels
labels = set(np.unique(arr_segments)).difference((0,))
# print 'labels = ', labels
# matrix with regression weights
arr_regr_weights_init = np.zeros(arr_init_disp.shape, dtype=float)
arr_regr_weights_init[arr_init_disp.nonzero()] = 0.3
arr_regr_weights_init[arr_edge_disp.nonzero()] = 1.0
# initial sparse disparity maps without outliers for a specific model
disparity_init_const = np.zeros(arr_init_disp.shape, dtype=float)
disparity_init_planar = np.zeros(arr_init_disp.shape, dtype=float)
disparity_init_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# weights for sparse disparity values without outliers
weights_const = np.zeros(arr_init_disp.shape, dtype=float)
weights_planar = np.zeros(arr_init_disp.shape, dtype=float)
weights_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# dense disparity maps obtained using a specific model
disparity_const = np.zeros(arr_init_disp.shape, dtype=float)
disparity_planar = np.zeros(arr_init_disp.shape, dtype=float)
disparity_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# final dense disparity map after the model selection
disparity_final = np.zeros(arr_init_disp.shape, dtype=float)
t1 = dt.datetime.now()
# go over all segments and fit sparse disparity input to the model
for label in labels:
# print ''
# print 'current label = ', label
# masks of the considered segment and its sparse disparity map
segment_mask = (arr_segments == label) * 1
disparity_mask = (arr_init_disp > 0) * segment_mask * 1
# disparity of the current segment
disparity = arr_init_disp * disparity_mask
if disparity.sum() == 0:
continue
segment_regr_weights = np.zeros(disparity.shape, dtype=float)
segment_regr_weights = (disparity > 0) * arr_regr_weights_init
# get the robust least squares solution for the current segment
# and for const, planar, and quadric models
# get indices of given disparity values
indices = disparity.nonzero()
x = np.zeros(len(indices[1]))
y = np.zeros(len(indices[0]))
x[:] = indices[1]
y[:] = indices[0]
z_ones = np.ones([x.size, 1])
Z = disparity
segment_regr_weights_fl = segment_regr_weights[segment_regr_weights.nonzero()].flatten()
segment_regr_weights = np.reshape(segment_regr_weights_fl, ([len(segment_regr_weights_fl), 1]))
# constant model
X = z_ones
a_lsq_const, abs_res_scale_const = robust_lsq.get_dense_disparity_robust_lsq(X, Z, segment_regr_weights)
mad_const, w_const, d_const = estimate_weights.estimate_weights(
X, Z, a_lsq_const, abs_res_scale_const, segment_regr_weights, disparity.shape
)
# planar model
X = np.hstack((np.reshape(x, ([len(x), 1])), np.reshape(y, ([len(y), 1])), z_ones))
a_lsq_planar, abs_res_scale_planar = robust_lsq.get_dense_disparity_robust_lsq(X, Z, segment_regr_weights)
mad_planar, w_planar, d_planar = estimate_weights.estimate_weights(
X, Z, a_lsq_planar, abs_res_scale_planar, segment_regr_weights, disparity.shape
)
# quadric model
x2 = x ** 2
y2 = y ** 2
xy = x * y
# v1 = np.reshape(x2, ([len(x2),1]))
# v2 = np.reshape(y2, ([len(y2),1]))
# v3 = np.reshape(x, ([len(x),1]))
# v4 = np.reshape(y, ([len(y),1]))
v1 = np.reshape(x2, ([len(x2), 1]))
v2 = np.reshape(y2, ([len(y2), 1]))
v3 = np.reshape(xy, ([len(xy), 1]))
v4 = np.reshape(x, ([len(x), 1]))
v5 = np.reshape(y, ([len(y), 1]))
# X = np.hstack((v1, v2, v3, v4, z_ones))
X = np.hstack((v1, v2, v3, v4, v5, z_ones))
a_lsq_quadric, abs_res_scale_quadric = robust_lsq.get_dense_disparity_robust_lsq(X, Z, segment_regr_weights)
mad_quadric, w_quadric, d_quadric = estimate_weights.estimate_weights(
X, Z, a_lsq_quadric, abs_res_scale_quadric, segment_regr_weights, disparity.shape
)
# calculate disparity for the current segment based on the found model
segment_indices = segment_mask.nonzero()
disparity_init_const[segment_indices] = d_const[segment_indices]
disparity_init_planar[segment_indices] = d_planar[segment_indices]
disparity_init_quadric[segment_indices] = d_quadric[segment_indices]
weights_const[segment_indices] = w_const[segment_indices]
weights_planar[segment_indices] = w_planar[segment_indices]
weights_quadric[segment_indices] = w_quadric[segment_indices]
x_s = np.zeros(len(segment_indices[1]))
y_s = np.zeros(len(segment_indices[0]))
x_s[:] = segment_indices[1]
y_s[:] = segment_indices[0]
# calculate disparity values according to found models
disparity_const[segment_indices] = a_lsq_const[0]
disparity_planar[segment_indices] = a_lsq_planar[0] * x_s + a_lsq_planar[1] * y_s + a_lsq_planar[2]
# disparity_quadric[ segment_indices ] = a_lsq_quadric[0]*x_s*x_s + a_lsq_quadric[1]*y_s*y_s + a_lsq_quadric[2]*x_s + a_lsq_quadric[3]*y_s + a_lsq_quadric[4]
disparity_quadric[segment_indices] = (
a_lsq_quadric[0] * x_s * x_s
+ a_lsq_quadric[1] * y_s * y_s
+ a_lsq_quadric[2] * x_s * y_s
+ a_lsq_quadric[3] * x_s
+ a_lsq_quadric[4] * y_s
+ a_lsq_quadric[5]
)
# select the best model
winner = np.argmin([mad_const, mad_planar, mad_quadric])
if winner == 0:
disparity_final[segment_indices] = disparity_const[segment_indices]
elif winner == 1:
disparity_final[segment_indices] = disparity_planar[segment_indices]
elif winner == 2:
disparity_final[segment_indices] = disparity_quadric[segment_indices]
# calculated elapsed time
t2 = dt.datetime.now()
ms = (t2 - t1).microseconds / 1e3
print "Robust LSQ, elapsed time = ", ms, " ms"
print ""
# replace zeros by NaN values just for displaying
disparity_init_const[(disparity_init_const == 0).nonzero()] = "nan"
disparity_init_planar[(disparity_init_planar == 0).nonzero()] = "nan"
disparity_init_quadric[(disparity_init_quadric == 0).nonzero()] = "nan"
arr_regr_weights_init[(arr_regr_weights_init == 0).nonzero()] = "nan"
weights_const[(weights_const == 0).nonzero()] = "nan"
weights_planar[(weights_planar == 0).nonzero()] = "nan"
weights_quadric[(weights_quadric == 0).nonzero()] = "nan"
plt.plot_array(
"Initial disparity (robust, const)",
disparity_init_const,
disp_min,
disp_max,
local_folder + "init-disparity-rob-const",
)
plt.plot_array(
"Initial disparity (robust, planar)",
disparity_init_planar,
disp_min,
disp_max,
local_folder + "init-disparity-rob-planar",
)
plt.plot_array(
"Initial disparity (robust, quadric)",
disparity_init_quadric,
disp_min,
disp_max,
local_folder + "init-disparity-rob-quadric",
)
plt.plot_array("Regression weights", arr_regr_weights_init, 0, 1, local_folder + "regression-weight")
w_min = 0.0
w_max = 0.37
plt.plot_array("Weights (robust, const)", weights_const, w_min, w_max, local_folder + "weights-rob-const")
plt.plot_array("Weights (robust, planar)", weights_planar, w_min, w_max, local_folder + "weights-rob-planar")
plt.plot_array("Weights (robust, quadric)", weights_quadric, w_min, w_max, local_folder + "weights-rob-quadric")
return disparity_const, disparity_planar, disparity_quadric, disparity_final
def view_disparity(path, disparity_min, disparity_max, occlusion_range):
arr_sparse_disparity_incons = abs(
np.loadtxt(path + 'sparse_disparity_incons.dat'))
arr_sparse_disparity_cons = abs(
np.loadtxt(path + 'sparse_disparity_cons.dat'))
arr_average_disparity = abs(np.loadtxt(path + 'average-disparity.dat'))
arr_average_disparity_lines = abs(
np.loadtxt(path + 'average-disparity-lines.dat'))
arr_edge_disparity = abs(np.loadtxt(path + 'edge-disparity.dat'))
arr_edge_disparity_final = abs(
np.loadtxt(path + 'edge-disparity-final.dat'))
arr_initial_disparity = abs(np.loadtxt(path + 'initial-disparity.dat'))
arr_sigma_map = np.loadtxt(path + 'sigma-map.dat')
arr_occlusion_map = np.loadtxt(path + 'occlusion-map.dat')
arr_outliers_map = np.loadtxt(path + 'outliers-map.dat')
arr_edge_disparity_mask = np.loadtxt(path + 'edge-disparity-mask.dat')
arr_sparse_filtered = abs(
np.loadtxt(path + 'sparse-disparity-filtered.dat'))
# get size
height = arr_sparse_disparity_cons.shape[0]
width = arr_sparse_disparity_cons.shape[1]
print 'height = ', height
print 'width = ', width
# plot inconsistent sparse disparity map
min_val = disparity_min
max_val = disparity_max
arr_sparse_disparity_incons[0:height, 0:occlusion_range] = 'nan'
arr_average_disparity[0:height, 0:occlusion_range] = 'nan'
arr_average_disparity_lines[0:height, 0:occlusion_range] = 'nan'
arr_edge_disparity[0:height, 0:occlusion_range] = 'nan'
arr_edge_disparity_final[0:height, 0:occlusion_range] = 'nan'
arr_initial_disparity[0:height, 0:occlusion_range] = 'nan'
arr_occlusion_map[0:height, 0:occlusion_range] = 'nan'
arr_edge_disparity_mask[0:height, 0:occlusion_range] = 'nan'
arr_sigma_map[0:height, 0:occlusion_range] = 'nan'
arr_outliers_map[0:height, 0:occlusion_range] = 'nan'
plt.plot_array('Inconsistent sparse disparity map (phase-based)',
arr_sparse_disparity_incons, min_val, max_val,
path + 'sparse-disparity-incons')
plt.plot_array('Consistent sparse disparity map (phase-based)',
arr_sparse_disparity_cons, min_val, max_val,
path + 'sparse-disparity-cons')
plt.plot_array('Filtered sparse disparity map', arr_sparse_filtered,
min_val, max_val, path + 'sparse-disparity-filtered')
plt.plot_array('Average disparity', arr_average_disparity, min_val,
max_val, path + 'average-disparity')
plt.plot_array('Average disparity (lines)', arr_average_disparity_lines,
min_val, max_val, path + 'average-disparity-lines')
# make borders thicker
extend_border_horizontal(arr_edge_disparity)
extend_border_vertical(arr_edge_disparity)
extend_border_horizontal(arr_edge_disparity_final)
extend_border_vertical(arr_edge_disparity_final)
extend_sigma_horizontal(arr_sigma_map, 0.3)
extend_sigma_vertical(arr_sigma_map, 0.3)
# replace zeros by NaN values
for i in range(1, height):
for j in range(1, width):
if (arr_edge_disparity_final[i, j] != 0):
arr_initial_disparity[i, j] = arr_edge_disparity_final[i, j]
if (arr_edge_disparity[i, j] == 0):
arr_edge_disparity[i, j] = 'nan'
if (arr_edge_disparity_final[i, j] == 0):
arr_edge_disparity_final[i, j] = 'nan'
if (arr_edge_disparity_mask[i, j] == 0):
arr_edge_disparity_mask[i, j] = 'nan'
if (arr_occlusion_map[i, j] == 0):
arr_occlusion_map[i, j] = 'nan'
if (arr_outliers_map[i, j] == 0):
arr_outliers_map[i, j] = 'nan'
plt.plot_array('Edge disparity', arr_edge_disparity, min_val, max_val,
path + 'edge-disparity')
plt.plot_array('Final edge disparity', arr_edge_disparity_final, min_val,
max_val, path + 'edge-disparity-final')
plt.plot_array('Initial disparity', arr_initial_disparity, min_val,
max_val, path + 'initial-disparity')
#plot_array('Sigma map', arr_sigma_map, arr_sigma_map.min(), arr_sigma_map.max(), 'sigma-map')
plt.plot_array('Sigma map', arr_sigma_map, 0, 1, path + 'sigma-map')
#plot_array('Occlusion map', arr_occlusion_map, arr_occlusion_map.min(), arr_occlusion_map.max(), 'occlusion-map')
plt.plot_array('Occlusion map', arr_occlusion_map, 0, 1,
path + 'occlusion-map')
plt.plot_array('Outliers map', arr_outliers_map, 0, 1,
path + 'outliers-map')
plt.plot_array('Edge disparity mask', arr_edge_disparity_mask, 0, 1,
path + 'edge-disparity-mask')
def surface_fitting_robust_lsq(local_folder, arr_segments, arr_init_disp,
arr_edge_disp, disp_min, disp_max):
# get segment labels
labels = set(np.unique(arr_segments)).difference((0, ))
#print 'labels = ', labels
# matrix with regression weights
arr_regr_weights_init = np.zeros(arr_init_disp.shape, dtype=float)
arr_regr_weights_init[arr_init_disp.nonzero()] = 0.3
arr_regr_weights_init[arr_edge_disp.nonzero()] = 1.0
# initial sparse disparity maps without outliers for a specific model
disparity_init_const = np.zeros(arr_init_disp.shape, dtype=float)
disparity_init_planar = np.zeros(arr_init_disp.shape, dtype=float)
disparity_init_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# weights for sparse disparity values without outliers
weights_const = np.zeros(arr_init_disp.shape, dtype=float)
weights_planar = np.zeros(arr_init_disp.shape, dtype=float)
weights_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# dense disparity maps obtained using a specific model
disparity_const = np.zeros(arr_init_disp.shape, dtype=float)
disparity_planar = np.zeros(arr_init_disp.shape, dtype=float)
disparity_quadric = np.zeros(arr_init_disp.shape, dtype=float)
# final dense disparity map after the model selection
disparity_final = np.zeros(arr_init_disp.shape, dtype=float)
t1 = dt.datetime.now()
# go over all segments and fit sparse disparity input to the model
for label in labels:
#print ''
#print 'current label = ', label
# masks of the considered segment and its sparse disparity map
segment_mask = (arr_segments == label) * 1
disparity_mask = (arr_init_disp > 0) * segment_mask * 1
# disparity of the current segment
disparity = arr_init_disp * disparity_mask
if disparity.sum() == 0:
continue
segment_regr_weights = np.zeros(disparity.shape, dtype=float)
segment_regr_weights = (disparity > 0) * arr_regr_weights_init
# get the robust least squares solution for the current segment
# and for const, planar, and quadric models
# get indices of given disparity values
indices = disparity.nonzero()
x = np.zeros(len(indices[1]))
y = np.zeros(len(indices[0]))
x[:] = indices[1]
y[:] = indices[0]
z_ones = np.ones([x.size, 1])
Z = disparity
segment_regr_weights_fl = segment_regr_weights[
segment_regr_weights.nonzero()].flatten()
segment_regr_weights = np.reshape(segment_regr_weights_fl,
([len(segment_regr_weights_fl), 1]))
# constant model
X = z_ones
a_lsq_const, abs_res_scale_const = robust_lsq.get_dense_disparity_robust_lsq(
X, Z, segment_regr_weights)
mad_const, w_const, d_const = estimate_weights.estimate_weights(
X, Z, a_lsq_const, abs_res_scale_const, segment_regr_weights,
disparity.shape)
# planar model
X = np.hstack(
(np.reshape(x, ([len(x), 1])), np.reshape(y,
([len(y), 1])), z_ones))
a_lsq_planar, abs_res_scale_planar = robust_lsq.get_dense_disparity_robust_lsq(
X, Z, segment_regr_weights)
mad_planar, w_planar, d_planar = estimate_weights.estimate_weights(
X, Z, a_lsq_planar, abs_res_scale_planar, segment_regr_weights,
disparity.shape)
# quadric model
x2 = x**2
y2 = y**2
xy = x * y
#v1 = np.reshape(x2, ([len(x2),1]))
#v2 = np.reshape(y2, ([len(y2),1]))
#v3 = np.reshape(x, ([len(x),1]))
#v4 = np.reshape(y, ([len(y),1]))
v1 = np.reshape(x2, ([len(x2), 1]))
v2 = np.reshape(y2, ([len(y2), 1]))
v3 = np.reshape(xy, ([len(xy), 1]))
v4 = np.reshape(x, ([len(x), 1]))
v5 = np.reshape(y, ([len(y), 1]))
#X = np.hstack((v1, v2, v3, v4, z_ones))
X = np.hstack((v1, v2, v3, v4, v5, z_ones))
a_lsq_quadric, abs_res_scale_quadric = robust_lsq.get_dense_disparity_robust_lsq(
X, Z, segment_regr_weights)
mad_quadric, w_quadric, d_quadric = estimate_weights.estimate_weights(
X, Z, a_lsq_quadric, abs_res_scale_quadric, segment_regr_weights,
disparity.shape)
# calculate disparity for the current segment based on the found model
segment_indices = segment_mask.nonzero()
disparity_init_const[segment_indices] = d_const[segment_indices]
disparity_init_planar[segment_indices] = d_planar[segment_indices]
disparity_init_quadric[segment_indices] = d_quadric[segment_indices]
weights_const[segment_indices] = w_const[segment_indices]
weights_planar[segment_indices] = w_planar[segment_indices]
weights_quadric[segment_indices] = w_quadric[segment_indices]
x_s = np.zeros(len(segment_indices[1]))
y_s = np.zeros(len(segment_indices[0]))
x_s[:] = segment_indices[1]
y_s[:] = segment_indices[0]
# calculate disparity values according to found models
disparity_const[segment_indices] = a_lsq_const[0]
disparity_planar[segment_indices] = a_lsq_planar[
0] * x_s + a_lsq_planar[1] * y_s + a_lsq_planar[2]
#disparity_quadric[ segment_indices ] = a_lsq_quadric[0]*x_s*x_s + a_lsq_quadric[1]*y_s*y_s + a_lsq_quadric[2]*x_s + a_lsq_quadric[3]*y_s + a_lsq_quadric[4]
disparity_quadric[
segment_indices] = a_lsq_quadric[0] * x_s * x_s + a_lsq_quadric[
1] * y_s * y_s + a_lsq_quadric[2] * x_s * y_s + a_lsq_quadric[
3] * x_s + a_lsq_quadric[4] * y_s + a_lsq_quadric[5]
# select the best model
winner = np.argmin([mad_const, mad_planar, mad_quadric])
if winner == 0:
disparity_final[segment_indices] = disparity_const[segment_indices]
elif winner == 1:
disparity_final[segment_indices] = disparity_planar[
segment_indices]
elif winner == 2:
disparity_final[segment_indices] = disparity_quadric[
segment_indices]
# calculated elapsed time
t2 = dt.datetime.now()
ms = (t2 - t1).microseconds / 1e3
print 'Robust LSQ, elapsed time = ', ms, ' ms'
print ''
# replace zeros by NaN values just for displaying
disparity_init_const[(disparity_init_const == 0).nonzero()] = 'nan'
disparity_init_planar[(disparity_init_planar == 0).nonzero()] = 'nan'
disparity_init_quadric[(disparity_init_quadric == 0).nonzero()] = 'nan'
arr_regr_weights_init[(arr_regr_weights_init == 0).nonzero()] = 'nan'
weights_const[(weights_const == 0).nonzero()] = 'nan'
weights_planar[(weights_planar == 0).nonzero()] = 'nan'
weights_quadric[(weights_quadric == 0).nonzero()] = 'nan'
plt.plot_array('Initial disparity (robust, const)', disparity_init_const,
disp_min, disp_max,
local_folder + 'init-disparity-rob-const')
plt.plot_array('Initial disparity (robust, planar)', disparity_init_planar,
disp_min, disp_max,
local_folder + 'init-disparity-rob-planar')
plt.plot_array('Initial disparity (robust, quadric)',
disparity_init_quadric, disp_min, disp_max,
local_folder + 'init-disparity-rob-quadric')
plt.plot_array('Regression weights', arr_regr_weights_init, 0, 1,
local_folder + 'regression-weight')
w_min = 0.0
w_max = 0.37
plt.plot_array('Weights (robust, const)', weights_const, w_min, w_max,
local_folder + 'weights-rob-const')
plt.plot_array('Weights (robust, planar)', weights_planar, w_min, w_max,
local_folder + 'weights-rob-planar')
plt.plot_array('Weights (robust, quadric)', weights_quadric, w_min, w_max,
local_folder + 'weights-rob-quadric')
return disparity_const, disparity_planar, disparity_quadric, disparity_final
def surface_fitting(output_path, occlusion_range, disp_min, disp_max):
#fname_segments = './segments-left.dat' # input left segments
#fname_cons_disp = './sparse_disparity_cons.dat' # consistent sparse disparity estimated by the phase-based method
#fname_edge_disp = './edge-disparity-final.dat' # edge disparity map
#fname_init_disp = './initial-disparity.dat' # initial disparity map
fname_segments = output_path + 'segments-left.dat' # input left segments
fname_cons_disp = output_path + 'sparse_disparity_cons.dat' # consistent sparse disparity estimated by the phase-based method
fname_edge_disp = output_path + 'edge-disparity-final.dat' # edge disparity map
fname_init_disp = output_path + 'initial-disparity.dat' # initial disparity map
#local_folder = './tmp/' # folder for final results
#occlusion_range = 32 # range of a half-occlusion area (for left segments)
# min and max disparity values for color scaling
#disp_min = 0
#disp_max = 50#45#48#50
arr_segments = np.loadtxt(fname_segments, dtype=float)
arr_cons_disp = abs(np.loadtxt(fname_cons_disp, dtype=float))
arr_edge_disp = np.loadtxt(fname_edge_disp, dtype=float)
arr_init_disp = np.loadtxt(fname_init_disp, dtype=float)
# replace 'NaN's by zeros
arr_init_disp = np.nan_to_num(arr_init_disp)
arr_cons_disp = np.nan_to_num(arr_cons_disp)
# clean input segments and find regions remained unfound after segmentation
arr_segments, arr_segments_gaps, arr_segments_final = find_small_segments.detect_small_segments(arr_segments, occlusion_range)
# save clean segments, segmentation gaps and final segments (clean segments + filled gaps)
segment_colors = plt.generate_colors()
find_small_segments.save_segments(output_path + 'segments-left-original', arr_segments, segment_colors)
find_small_segments.save_segments(output_path + 'segments-left-gaps', arr_segments_gaps, segment_colors)
find_small_segments.save_segments(output_path + 'segments-left-final', arr_segments_final, segment_colors)
# for segments with a few estimations in the initial map use input consistent disparity
arr_init_disp = disparity_operations.complement_initial_disparity(arr_segments, arr_init_disp, arr_cons_disp)
# CASE 1: regular least squares (for both segment gaps and segments)
disparity_gaps_reg_const, disparity_gaps_reg_planar, disparity_gaps_reg_quadric = fitting_regular_lsq.surface_fitting_regular_lsq(arr_segments_gaps, arr_cons_disp)
disparity_reg_const, disparity_reg_planar, disparity_reg_quadric = fitting_regular_lsq.surface_fitting_regular_lsq(arr_segments, arr_init_disp)
# go over gap labels and fill gaps in all maps by const disparity values
for lb in set(np.unique(arr_segments_gaps)).difference((0,)):
disparity_reg_const[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_reg_const[ (arr_segments_gaps == lb).nonzero() ]
disparity_reg_planar[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_reg_const[ (arr_segments_gaps == lb).nonzero() ]
disparity_reg_quadric[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_reg_const[ (arr_segments_gaps == lb).nonzero() ]
# CASE 2: robust least squares (for both segment gaps and segments)
disparity_gaps_rob_const, disparity_gaps_rob_planar, disparity_gaps_rob_quadric, disparity_gaps_rob_final = fitting_robust_lsq.surface_fitting_robust_lsq(output_path, arr_segments_gaps, arr_cons_disp, arr_edge_disp, disp_min, disp_max)
disparity_rob_const, disparity_rob_planar, disparity_rob_quadric, disparity_rob_final = fitting_robust_lsq.surface_fitting_robust_lsq(output_path, arr_segments, arr_init_disp, arr_edge_disp, disp_min, disp_max)
# go over gap labels and fill gaps in all maps by const disparity values
for lb in set(np.unique(arr_segments_gaps)).difference((0,)):
disparity_rob_const[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_rob_const[ (arr_segments_gaps == lb).nonzero() ]
disparity_rob_planar[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_rob_const[ (arr_segments_gaps == lb).nonzero() ]
disparity_rob_quadric[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_rob_const[ (arr_segments_gaps == lb).nonzero() ]
disparity_rob_final[ (arr_segments_gaps == lb).nonzero() ] = disparity_gaps_rob_const[ (arr_segments_gaps == lb).nonzero() ]
# perform interpolation of disparity values for empty pixels
disparity_reg_const = disparity_operations.disparity_interpolation(disparity_reg_const, arr_segments_final, occlusion_range)
disparity_reg_planar = disparity_operations.disparity_interpolation(disparity_reg_planar, arr_segments_final, occlusion_range)
disparity_reg_quadric = disparity_operations.disparity_interpolation(disparity_reg_quadric, arr_segments_final, occlusion_range)
disparity_rob_const = disparity_operations.disparity_interpolation(disparity_rob_const, arr_segments_final, occlusion_range)
disparity_rob_planar = disparity_operations.disparity_interpolation(disparity_rob_planar, arr_segments_final, occlusion_range)
disparity_rob_quadric = disparity_operations.disparity_interpolation(disparity_rob_quadric, arr_segments_final, occlusion_range)
disparity_rob_final = disparity_operations.disparity_interpolation(disparity_rob_final, arr_segments_final, occlusion_range)
# PLOT DATA
# replace zeros by NaN to make them white in plots
arr_edge_disp[ (arr_edge_disp == 0).nonzero() ] = 'nan'
arr_init_disp[ (arr_init_disp == 0).nonzero() ] = 'nan'
arr_cons_disp[ (arr_cons_disp == 0).nonzero() ] = 'nan'
disparity_reg_const[ (disparity_reg_const == 0).nonzero() ] = 'nan'
disparity_reg_planar[ (disparity_reg_planar == 0).nonzero() ] = 'nan'
disparity_reg_quadric[ (disparity_reg_quadric == 0).nonzero() ] = 'nan'
disparity_gaps_reg_const[ (disparity_gaps_reg_const == 0).nonzero() ] = 'nan'
disparity_gaps_reg_planar[ (disparity_gaps_reg_planar == 0).nonzero() ] = 'nan'
disparity_gaps_reg_quadric[ (disparity_gaps_reg_quadric == 0).nonzero() ] = 'nan'
disparity_gaps_rob_const[ (disparity_gaps_rob_const == 0).nonzero() ] = 'nan'
disparity_gaps_rob_planar[ (disparity_gaps_rob_planar == 0).nonzero() ] = 'nan'
disparity_gaps_rob_quadric[ (disparity_gaps_rob_quadric == 0).nonzero() ] = 'nan'
disparity_rob_const[ (disparity_rob_const == 0).nonzero() ] = 'nan'
disparity_rob_planar[ (disparity_rob_planar == 0).nonzero() ] = 'nan'
disparity_rob_quadric[ (disparity_rob_quadric == 0).nonzero() ] = 'nan'
disparity_rob_final[ (disparity_rob_final == 0).nonzero() ] = 'nan'
plt.plot_array('Consistent sparse disparity (phase-based)', arr_cons_disp, disp_min, disp_max, output_path + 'sparse-disparity-consistent')
plt.plot_array('Edge Disparity', arr_edge_disp, disp_min, disp_max, output_path + 'edge-disparity')
plt.plot_array('Initial Disparity', arr_init_disp, disp_min, disp_max, output_path + 'init-disparity')
plt.plot_array('Final Disparity (regular LSQ, const)', disparity_reg_const, disp_min, disp_max, output_path + 'dense-disparity-reg-const')
plt.plot_array('Final Disparity (regular LSQ, planar)', disparity_reg_planar, disp_min, disp_max, output_path + 'dense-disparity-reg-planar')
plt.plot_array('Final Disparity (regular LSQ, quadric)', disparity_reg_quadric, disp_min, disp_max, output_path + 'dense-disparity-reg-quadric')
#plt.plot_array('Gaps Disparity (regular LSQ, const)', disparity_gaps_reg_const, disp_min, disp_max, local_folder + 'dense-disparity-gaps-reg-const')
#plt.plot_array('Gaps Disparity (regular LSQ, planar)', disparity_gaps_reg_planar, disp_min, disp_max, local_folder + 'dense-disparity-gaps-reg-planar')
#plt.plot_array('Gaps Disparity (regular LSQ, quadric)', disparity_gaps_reg_quadric, disp_min, disp_max, local_folder + 'dense-disparity-gaps-reg-quadric')
#plt.plot_array('Gaps Disparity (robust LSQ, const)', disparity_gaps_rob_const, disp_min, disp_max, local_folder + 'dense-disparity-gaps-rob-const')
#plt.plot_array('Gaps Disparity (robust LSQ, planar)', disparity_gaps_rob_planar, disp_min, disp_max, local_folder + 'dense-disparity-gaps-rob-planar')
#plt.plot_array('Gaps Disparity (robust LSQ, quadric)', disparity_gaps_rob_quadric, disp_min, disp_max, local_folder + 'dense-disparity-gaps-rob-quadric')
plt.plot_array('Final Disparity (robust LSQ, const)', disparity_rob_const, disp_min, disp_max, output_path + 'dense-disparity-rob-const')
plt.plot_array('Final Disparity (robust LSQ, planar)', disparity_rob_planar, disp_min, disp_max, output_path + 'dense-disparity-rob-planar')
plt.plot_array('Final Disparity (robust LSQ, quadric)', disparity_rob_quadric, disp_min, disp_max, output_path + 'dense-disparity-rob-quadric')
plt.plot_array('Final Disparity (robust, model selection)', disparity_rob_final, disp_min, disp_max, output_path + 'dense-disparity-rob-final')
# save estimated disparities as text files
np.savetxt(output_path + 'dense-disparity-reg-const.dat', disparity_reg_const)
np.savetxt(output_path + 'dense-disparity-reg-planar.dat', disparity_reg_planar)
np.savetxt(output_path + 'dense-disparity-reg-quadric.dat', disparity_reg_quadric)
np.savetxt(output_path + 'dense-disparity-rob-const.dat', disparity_rob_const)
np.savetxt(output_path + 'dense-disparity-rob-planar.dat', disparity_rob_planar)
np.savetxt(output_path + 'dense-disparity-rob-quadric.dat', disparity_rob_quadric)
np.savetxt(output_path + 'dense-disparity-rob-final.dat', disparity_rob_final)
return disparity_rob_final