def train(self):
x = tf.placeholder(
tf.float32,
[self.args.BATCH_SIZE, self.args.IMG_H, self.args.IMG_W, 3],
name='x-input')
sp = tf.placeholder(
tf.float32,
[self.args.BATCH_SIZE, self.args.IMG_H, self.args.IMG_W, 1],
name='sp-input')
#y_ = tf.placeholder(tf.float32,[self.args.BATCH_SIZE, 415, 1279, 1],name='y-input')
y_ = tf.placeholder(
tf.float32,
[self.args.BATCH_SIZE, self.args.IMG_H, self.args.IMG_W, 1],
name='y-input')
dataset = Data(self.args)
#x=dataset.data_argument(x)#data argument
#x = tf.image.per_image_standardization(x)
#x = tf.image.per_image_standardization(x)
#sp = tf.image.per_image_standardization(sp)
#y_ = tf.image.per_image_standardization(y_)
#x=dataset.data_argument(x)
#sp = tf.image.per_image_standardization(sp)
#y_== tf.image.per_image_standardization(y_)
mask = self.get_mask(y_)
mask_num = tf.reduce_sum(mask)
mask_num = mask_num
print("mask_sum")
print(mask_num)
mask_add = tf.multiply(mask, -1.0)
mask_add = tf.add(mask_add, 1.0)
#mask_add=tf.multiply(mask_add,0.1)
#y_2=tf.multiply(y_,mask)
#sp2=tf.multiply(sp,mask)
#x2=tf.multiply(x,mask)
x2 = x
sp2 = sp
y_2 = y_
#sp2=tf.add(sp2,mask_add)
#y_2=tf.add(y_2,mask_add)
#x2=tf.add(x2,mask_add)
net = Model(self.args)
#pre_depth,rgb_depth,sp_depth,igf=net.network3(x2,sp2,net.trainingmode)
pre_depth, rgb_depth, sp_depth, igs, my_see = net.network(
x2, sp2, net.trainingmode)
pre_depth2 = tf.multiply(pre_depth, mask)
rgb_depth2 = tf.multiply(rgb_depth, mask)
sp_depth2 = tf.multiply(sp_depth, mask)
#pre_depth2=pre_depth
#rgb_depth2=rgb_depth
#sp_depth2=sp_depth
#pre_depth2=pre_depth#tf.add(pre_depth2,mask_add)#############
#rgb_depth2=rgb_depth#tf.add(rgb_depth2,mask_add)###########
#sp_depth2=sp_depth#tf.add(sp_depth2,mask_add)###############
train_loss = net.loss(pre_depth2, rgb_depth2, sp_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
MAE = net.MAE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#MAE=tf.divide(MAE,mask_num)
#MAE=(MAE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
iMAE = net.iMAE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#iMAE=tf.divide(iMAE,mask_num)
#iMAE=(iMAE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
iRMSE = net.iRMSE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#iRMSEs=tf.divide(iRMSEs,mask_num)
#iRMSEs=(iRMSEs)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
RMSE = net.RMSE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#RMSE=tf.divide(RMSE,mask_num)
#RMSE=(RMSE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
iRMSE_rgbb = net.iRMSE_loss(
rgb_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
erro_map = tf.abs(tf.subtract(pre_depth2, y_2))
erro_rgb = tf.abs(tf.subtract(rgb_depth2, y_2))
erro_sp = tf.abs(tf.subtract(sp_depth2, y_2))
learning_rate = tf.train.exponential_decay(self.learning_rate,
global_step=net.global_step,
decay_steps=1000,
decay_rate=0.2)
train_op, regularization_loss = net.optimize(learning_rate)
config = tf.ConfigProto()
config.gpu_options.per_process_gpu_memory_fraction = 0.9
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
tf.global_variables_initializer().run()
for i in range(self.args.epoch):
imgrgb, imgrsd, imgdd = dataset.get_data()
imgdd = imgdd + 1
#step,youtput,loss_value,op,lr,mask_,erro_map_,rl,rgbp,spp,iMAE_,MAE_,iRMSEs_,RMSE_= sess.run([net.global_step,pre_depth2,train_loss,train_op,learning_rate,mask,erro_map,regularization_loss,rgb_depth2,sp_depth2,iMAE,MAE,iRMSEs,RMSE],feed_dict={x: imgrgb, sp:imgrsd, y_: imgdd})
#step,youtput,loss_value,op,lr,erro_map_,rl,rgbp,spp,iMAE_,MAE_,iRMSEs_,RMSE_,sp_depth2_,mask_,y_2_,sp2_,mask_add_,mask_num_,igf4= sess.run([net.global_step,pre_depth2,train_loss,train_op,learning_rate,erro_map,regularization_loss,rgb_depth2,sp_depth2,iMAE,MAE,iRMSEs,RMSE,sp_depth2,mask,y_2,sp2,mask_add,mask_num,igf[4]],feed_dict={x: imgrgb, sp:imgrsd, y_: imgdd})
step, loss_value, train_op_, lr, rl, mask_num_ = sess.run(
[
net.global_step, train_loss, train_op, learning_rate,
regularization_loss, mask_num
],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
youtput, sp2_, y_2_ = sess.run([sp_depth2, sp2, y_2],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
rgb_d2, sp_d2 = sess.run([rgb_depth2, sp_depth2],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
#igf4,igf3,igf2=sess.run([igf[4],igf[3],igf[2]],feed_dict={x: imgrgb, sp:imgrsd, y_: imgdd})
erro_map_, erro_rgb_, erro_sp_, mask_ = sess.run(
[erro_map, erro_rgb, erro_sp, mask],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
MAE_, iMAE_, RMSE_, iRMSE_ = sess.run([MAE, iMAE, RMSE, iRMSE],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
iRMSE_rgbb_ = sess.run([iRMSE_rgbb],
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
igs_ = sess.run(igs,
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
my_see_ = sess.run(my_see,
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
pre_depth2_ = sess.run(pre_depth2,
feed_dict={
x: imgrgb,
sp: imgrsd,
y_: imgdd
})
sh_my_see_ = np.array(my_see_)
sh_my_see_ = sh_my_see_.reshape((40, 64))
sh_my_see_ = sh_my_see_ * 1000
#print(sh_my_see_)
#imae=0
#for i in range(pre_depth2_.shape[1]):
# for j in range(pre_depth2_.shape[2]):
# if pre_depth2_[0,i,j,0]!=0 and y_2_[0,i,j,0]!=0:
# a=pre_depth2_[0,i,j,0]
# b=y_2_[0,i,j,0]
# a=a/1000000.0
# b=b/1000000.0
# c=a-b
## d=a*b
# imae=imae+abs(c/d)
##imae=imae/self.args.IMG_H/self.args.IMG_W
#print("my test nnnnnnnnnnnnnnnnnnnnnn imae",imae)
# #rgb_SE_=sess.run(rgb_SE,feed_dict={x: imgrgb, sp:imgrsd, y_: imgdd})
#print(rgb_SE_[0])
print(
"Training step: %d, loss: %g ,ime：%g,mae：%g,irmse：%g,rmse：%g,regularization_loss: %g ,learning_rate :%.8f"
% (step, loss_value, iMAE_, MAE_, iRMSE_, RMSE_, rl, lr))
#print(pre_depth2_)
if i % 50 == 0:
self.train_result.update({i: MAE_})
#print(mask_)
if i % 600 == 0 and i != 0:
self.test(sess)
l_test_rloss = list(self.test_result.values())
average_a = np.mean(l_test_rloss)
self.test_average_loss.update(
{i / self.test_record_step: average_a})
'''
if i%self.train_record_step==0 and i!=0:
plt.figure()
plt.subplot(431)
plt.axis('off')
plt.title('rgb',fontsize='medium',fontweight='bold')
plt.imshow(imgrgb[0,:,:,:])
plt.subplot(432)
plt.axis('off')
plt.title('spare depth map',fontsize='medium',fontweight='bold')
plt.imshow(sp2_[0,:,:,0])
plt.subplot(433)
plt.axis('off')
plt.title('dense depth map',fontsize='medium',fontweight='bold')
plt.imshow(y_2_[0,:,:,0])
plt.subplot(434)
plt.axis('off')
plt.title('predicted depth map',fontsize='medium',fontweight='bold')
plt.imshow(youtput[0,:,:,0])
plt.subplot(435)
plt.axis('off')
plt.title('rgb depth',fontsize='medium',fontweight='bold')
plt.imshow(rgb_d2[0,:,:,0])
plt.subplot(436)
plt.axis('off')
plt.title('sp map',fontsize='medium',fontweight='bold')
plt.imshow(sp_d2[0,:,:,0])
plt.subplot(437)
plt.axis('off')
plt.title('erro predict',fontsize='medium',fontweight='bold')
plt.imshow(erro_map_[0,:,:,0],cmap='hot')
plt.subplot(438)
plt.axis('off')
plt.title('erro rgb',fontsize='medium',fontweight='bold')
plt.imshow(erro_rgb_[0,:,:,0],cmap='hot')
plt.subplot(439)
plt.axis('off')
plt.title('erro sp',fontsize='medium',fontweight='bold')
plt.imshow(erro_sp_[0,:,:,0],cmap='hot')
plt.savefig("./train_output/"+"step"+str(i)+"loss"+str(loss_value)+".png")
plt.close()
#sio.savemat("./train_output/imgdd"+str(i)+".mat", {'imgdd':y_2_[0,:,:,0]})
#sio.savemat("./train_output/predict"+str(i)+".mat", {'predict':youtput[0,:,:,0]})
#sio.savemat("./train_output/mask.mat", {'mask':mask_[0,:,:]})
plt.figure()
plt.subplot(2,3,1)
plt.axis('off')
plt.title('guided image filter1',fontsize='medium',fontweight='bold')
plt.imshow(igs_[0][0,:,:,0],cmap="hsv")
plt.subplot(2,3,2)
plt.axis('off')
plt.title('guided image filter2',fontsize='medium',fontweight='bold')
plt.imshow(igs_[1][0,:,:,0],cmap="hsv")
plt.subplot(2,3,3)
plt.axis('off')
plt.title('guided image filter3',fontsize='medium',fontweight='bold')
plt.imshow(igs_[2][0,:,:,0],cmap="hsv")
plt.subplot(2,3,4)
plt.axis('off')
plt.title('guided image filter4',fontsize='medium',fontweight='bold')
plt.imshow(igs_[3][0,:,:,0],cmap="hsv")
plt.subplot(2,3,5)
plt.axis('off')
plt.title('guided image filter5',fontsize='medium',fontweight='bold')
plt.imshow(igs_[4][0,:,:,0],cmap="hsv")
plt.savefig("./train_output/"+"step"+str(i)+"igf.png")
plt.close()
#plt.figure()
#plt.axis('off')
#plt.title('Squeeze and Excitation',fontsize='medium',fontweight='bold')
#plt.imshow(sh_my_see_,cmap="tab20c")
#plt.colorbar()
#plt.savefig("./train_output/"+"step"+str(i)+"seshow.png")
#plt。close()
'''
#if i%999==0 and i!=0:
# self.record()
index = list(self.train_result.keys())
value = list(self.train_result.values())
plt.figure(3)
#plt.axis('off')
plt.title('train loss', fontsize='medium', fontweight='bold')
plt.plot(index, value)
plt.savefig("./train_output/train_loss.png")
plt.close()
def test(self, sess):
x = tf.placeholder(tf.float32,
[1, self.args.IMG_H, self.args.IMG_W, 3],
name='x-input')
sp = tf.placeholder(tf.float32,
[1, self.args.IMG_H, self.args.IMG_W, 1],
name='sp-input') #+
#y_ = tf.placeholder(tf.float32,[1, 415, 1279, 1],name='y-input')
y_ = tf.placeholder(tf.float32,
[1, self.args.IMG_H, self.args.IMG_W, 1],
name='y-input')
dataset = Data(self.args)
mask = self.get_mask(y_)
mask_num = tf.reduce_sum(mask)
mask = self.get_mask(y_)
mask_add = tf.multiply(mask, -1.0)
mask_add = tf.add(mask_add, 1.0)
#mask_add=tf.multiply(mask_add,0.1)
y_2 = y_ #tf.multiply(y_,mask)
sp2 = sp #tf.multiply(sp,mask)
x2 = x
#x2=tf.multiply(x,mask)
#sp2=tf.add(sp2,mask_add)
#y_2=tf.add(y_2,mask_add)
#x2=tf.add(x2,mask_add)
net = Model(self.args)
pre_depth, rgb_depth, sp_depth, igs, SE = net.network(
x2, sp2, net.testingmode)
pre_depth2 = tf.multiply(pre_depth, mask)
rgb_depth2 = tf.multiply(rgb_depth, mask)
sp_depth2 = tf.multiply(sp_depth, mask)
#pre_depth2=tf.add(pre_depth2,mask_add)
#rgb_depth2=tf.add(rgb_depth2,mask_add)
#sp_depth2=tf.add(sp_depth2,mask_add)
test_loss = net.test_loss(
pre_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
erro_map = tf.abs(tf.subtract(pre_depth2, y_2))
erro_map_rgb = tf.abs(tf.subtract(rgb_depth2, y_2))
erro_map_sp = tf.abs(tf.subtract(sp_depth2, y_2))
#relative_erro_map=tf.div(erro_map,y_)
#relative_erro_map=tf.reduce_mean(relative_erro_map)
MAE = net.MAE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
rgbMAE = net.MAE_loss(rgb_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
spMAE = net.MAE_loss(sp_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#MAE=(MAE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
iMAE = net.iMAE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
rgbiMAE = net.iMAE_loss(
rgb_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
spiMAE = net.iMAE_loss(sp_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#iMAE=(iMAE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
iRMSEs = net.iRMSE_loss(
pre_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
rgbiRMSEs = net.iRMSE_loss(
rgb_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
spiRMSEs = net.iRMSE_loss(
sp_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#iRMSEs=(iRMSEs)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
RMSE = net.RMSE_loss(pre_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
rgbRMSE = net.RMSE_loss(
rgb_depth2, y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
spRMSE = net.RMSE_loss(sp_depth2,
y_2) #/mask_num*self.args.IMG_H*self.args.IMG_W
#RMSE=(RMSE)/self.args.BATCH_SIZE/self.args.IMG_H/self.args.IMG_W
MAE_list = []
iMAE_list = []
RMSE_list = []
iRMSEs_list = []
rgbMAE_list = []
rgbiMAE_list = []
rgbRMSE_list = []
rgbiRMSEs_list = []
spMAE_list = []
spiMAE_list = []
spRMSE_list = []
spiRMSEs_list = []
imgrgb, imgrsd, imgdd = dataset.read_test_image()
for i in range(len(dataset.test_rgb_list)):
loss_value, youtput, erro_map_, mask_ = sess.run(
[test_loss, pre_depth2, erro_map, mask],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
MAE_, iMAE_, RMSE_, iRMSE_ = sess.run(
[MAE, iMAE, RMSE, iRMSEs],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
rgbMAE_, rgbiMAE_, rgbRMSE_, rgbiRMSEs_ = sess.run(
[rgbMAE, rgbiMAE, rgbRMSE, rgbiRMSEs],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
spMAE_, spiMAE_, spRMSE_, spiRMSEs_ = sess.run(
[spMAE, spiMAE, spRMSE, spiRMSEs],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
rgb_depth2_, sp_depth2_ = sess.run(
[rgb_depth2, sp_depth2],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
erro_map_rgb_, erro_map_sp_, sp2_, y_2_ = sess.run(
[erro_map_rgb, erro_map_sp, sp2, y_2],
feed_dict={
x: np.expand_dims(imgrgb[i], 0),
sp: np.expand_dims(imgrsd[i], 0),
y_: np.expand_dims(imgdd[i], 0)
})
self.test_result.update({i: loss_value})
self.test_relative.update({i: loss_value})
imae = 0
imargbe = 0
imaesp = 0
iRMSE = 0
iRMSErgb = 0
iRMSEsp = 0
for i in range(youtput.shape[1]):
for j in range(youtput.shape[2]):
if youtput[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a = youtput[0, i, j, 0]
b = y_2_[0, i, j, 0]
a = a / 1000000.0
b = b / 1000000.0
c = a - b
d = a * b
imae = imae + abs(c / d)
if rgb_depth2_[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a1 = rgb_depth2_[0, i, j, 0]
b1 = y_2_[0, i, j, 0]
a1 = a1 / 1000000.0
b1 = b1 / 1000000.0
c1 = a1 - b1
d1 = a1 * b1
imargbe = imargbe + abs(c1 / d1)
if sp_depth2_[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a2 = sp_depth2_[0, i, j, 0]
b2 = y_2_[0, i, j, 0]
a2 = a2 / 1000000.0
b2 = b2 / 1000000.0
c2 = a2 - b2
d2 = a2 * b2
imaesp = imaesp + abs(c2 / d2)
if youtput[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a3 = youtput[0, i, j, 0]
b3 = y_2_[0, i, j, 0]
a3 = a3 / 1000000.0
b3 = b3 / 1000000.0
c3 = a3 - b3
d3 = a3 * b3
iRMSE = iRMSE + (c3 / d3) * (c3 / d3)
if rgb_depth2_[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a4 = youtput[0, i, j, 0]
b4 = y_2_[0, i, j, 0]
a4 = a4 / 1000000.0
b4 = b4 / 1000000.0
c4 = a4 - b4
d4 = a4 * b4
iRMSErgb = iRMSErgb + (c4 / d4) * (c4 / d4)
if sp_depth2_[0, i, j, 0] != 0 and y_2_[0, i, j, 0] != 0:
a5 = sp_depth2_[0, i, j, 0]
b5 = y_2_[0, i, j, 0]
a5 = a5 / 1000000.0
b5 = b5 / 1000000.0
c5 = a5 - b5
d5 = a5 * b5
iRMSEsp = iRMSEsp + (c5 / d5) * (c5 / d5)
imae = imae / self.args.IMG_H / self.args.IMG_W
imargbe = imargbe / self.args.IMG_H / self.args.IMG_W
imaesp = imaesp / self.args.IMG_H / self.args.IMG_W
iRMSE = iRMSE / self.args.IMG_H / self.args.IMG_W
iRMSE = np.sqrt(iRMSE)
iRMSErgb = iRMSErgb / self.args.IMG_H / self.args.IMG_W
iRMSErgb = np.sqrt(iRMSErgb)
iRMSEsp = iRMSEsp / self.args.IMG_H / self.args.IMG_W
iRMSEsp = np.sqrt(iRMSEsp)
print('i:%g,MAE_: %g,RMSE_: %g,iMAE_: %g,iRMSE_: %g' %
(i, MAE_, RMSE_, imae, iRMSE))
if not math.isinf(iMAE_) and not math.isinf(
iRMSE_) and not math.isinf(rgbiMAE_) and not math.isinf(
rgbiRMSEs_) and not math.isinf(
spiMAE_) and not math.isinf(spiRMSEs_):
MAE_list.append(MAE_)
iMAE_list.append(imae)
RMSE_list.append(RMSE_)
iRMSEs_list.append(iRMSE)
rgbMAE_list.append(rgbMAE_)
rgbiMAE_list.append(imargbe)
rgbRMSE_list.append(rgbRMSE_)
rgbiRMSEs_list.append(iRMSErgb)
spMAE_list.append(spMAE_)
spiMAE_list.append(imaesp)
spRMSE_list.append(spRMSE_)
spiRMSEs_list.append(iRMSEsp)
if not os.path.exists('./test_output/test_result' + str(i)):
os.mkdir('./test_output/test_result' + str(i))
'''
plt.figure(0)
#plt.subplot(321)
plt.axis('off')
#plt.title('rgb',fontsize='medium',fontweight='bold')
plt.imshow(imgrgb[i][:,:,:])
plt.savefig("./test_output/test_result"+str(i)+"/rgb.png")
plt.close()
plt.figure(1)
#plt.subplot(322)
plt.axis('off')
#plt.title('spare depth map',fontsize='medium',fontweight='bold')
plt.imshow(sp2_[0,:,:,0])
plt.savefig("./test_output/test_result"+str(i)+"/spare.png")
plt.close()
plt.figure(2)
#plt.subplot(323)
plt.axis('off')
#plt.title('dense depth map',fontsize='medium',fontweight='bold')
plt.imshow(y_2_[0,:,:,0])
plt.savefig("./test_output/test_result"+str(i)+"/dense.png")
plt.close()
plt.figure(3)
plt.axis('off')
#plt.title('predicted depth map',fontsize='medium',fontweight='bold')
plt.imshow(youtput[0,:,:,0])
plt.savefig("./test_output/test_result"+str(i)+"/predict.png")
plt.close()
plt.figure(4)
#plt.subplot(325)
plt.axis('off')
#plt.title('erro map',fontsize='medium',fontweight='bold')
plt.imshow(erro_map_[0,:,:,0],cmap="hot")
plt.savefig("./test_output/test_result"+str(i)+"/erro_map.png")
plt.close()
plt.figure(41)
#plt.subplot(325)
plt.axis('off')
#plt.title('erro map',fontsize='medium',fontweight='bold')
plt.imshow(erro_map_rgb_[0,:,:,0],cmap="hot")
plt.savefig("./test_output/test_result"+str(i)+"/erro_map_rgb_.png")
plt.close()
plt.figure(42)
#plt.subplot(325)
plt.axis('off')
#plt.title('erro map',fontsize='medium',fontweight='bold')
plt.imshow(erro_map_sp_[0,:,:,0],cmap="hot")
plt.savefig("./test_output/test_result"+str(i)+"/erro_map_sp_.png")
plt.close()
plt.figure(5)
#plt.subplot(326)
plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.imshow(mask_[0,:,:,0],cmap="hot")
plt.savefig("./test_output/test_result"+str(i)+"/mask.png")
plt.close()
plt.figure(6)
#plt.subplot(326)
plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.imshow(rgb_depth2_[0,:,:,0])
plt.savefig("./test_output/test_result"+str(i)+"/rgb_predict.png")
plt.close()
plt.figure(7)
#plt.subplot(326)
plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.imshow(sp_depth2_[0,:,:,0])
plt.savefig("./test_output/test_result"+str(i)+"/sp_predict.png")
plt.close()
#sio.savemat("./test_output/mat/"+str(i)+'pridict.mat', {'pridict':youtput[0,:,:,0]})
#sio.savemat("./test_output/mat/"+str(i)+'gt.mat', {'gt':imgdd[i][:,:,0]})
'''
sio.savemat("./test_output/MAS.mat", {'MAS': MAE_list})
sio.savemat("./test_output/iMAS.mat", {'iMAS': iMAE_list})
sio.savemat("./test_output/RMSE.mat", {'RMSE': RMSE_list})
sio.savemat("./test_output/iRMSE.mat", {'iRMSE': iRMSEs_list})
sio.savemat("./test_output/rgbMAS.mat", {'rgbMAS': rgbMAE_list})
sio.savemat("./test_output/rgbiMAS.mat", {'rgbiMAS': rgbiMAE_list})
sio.savemat("./test_output/rgbRMSE.mat", {'rgbRMSE': rgbRMSE_list})
sio.savemat("./test_output/rgbiRMSE.mat", {'rgbiRMSE': rgbiRMSEs_list})
sio.savemat("./test_output/spMAS.mat", {'spMAS': spMAE_list})
sio.savemat("./test_output/spiMAS.mat", {'spiMAS': spiMAE_list})
sio.savemat("./test_output/spRMSE.mat", {'spRMSE': spRMSE_list})
sio.savemat("./test_output/spiRMSE.mat", {'spiRMSE': spiRMSEs_list})
x = len(MAE_list)
plt.figure(8)
xx = list(range(1, x + 1, 1))
#plt.subplot(326)
#plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.scatter(xx, rgbMAE_list, s=3, c='r')
plt.scatter(xx, spMAE_list, s=3, c='g')
plt.scatter(xx, MAE_list, s=3, c='b')
plt.legend(["rgb", "sp", "rgb+sp"])
plt.title("MAE")
plt.xlabel('index')
plt.ylabel('mm')
plt.savefig("./test_output/MAE.png")
plt.close()
plt.figure(9)
xx = list(range(1, x + 1, 1))
#plt.subplot(326)
#plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.scatter(xx, rgbiMAE_list, s=3, c='r')
plt.scatter(xx, spiMAE_list, s=3, c='g')
plt.scatter(xx, iMAE_list, s=3, c='b')
plt.legend(["rgb", "sp", "rgb+sp"])
#plt.legend(["without SE"])
plt.title("iMAE")
mins = min([min(spiMAE_list), min(rgbiMAE_list), min(iMAE_list)])
maxs = max([max(spiMAE_list), max(rgbiMAE_list), max(iMAE_list)])
plt.ylim(mins - 100, maxs + 100)
plt.xlabel('index')
plt.ylabel('1/km')
plt.savefig("./test_output/iMAE_list.png")
plt.close()
plt.figure(10)
xx = list(range(1, x + 1, 1))
#plt.subplot(326)
#plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.scatter(xx, rgbMAE_list, s=3, c='r')
plt.scatter(xx, spMAE_list, s=3, c='g')
plt.scatter(xx, MAE_list, s=3, c='b')
plt.legend(["rgb", "sp", "rgb+sp"])
plt.title("RMSE")
plt.xlabel('index')
plt.ylabel('mm')
plt.savefig("./test_output/RMSE.png")
plt.close()
plt.figure(11)
xx = list(range(1, x + 1, 1))
plt.scatter(xx, rgbiRMSEs_list, s=3, c='r')
plt.scatter(xx, spiRMSEs_list, s=3, c='g')
plt.scatter(xx, iRMSEs_list, s=3, c='b')
plt.title("iRMSE")
mins = min([min(iRMSEs_list), min(rgbiRMSEs_list), min(spiRMSEs_list)])
maxs = max([max(iRMSEs_list), max(rgbiRMSEs_list), max(spiRMSEs_list)])
plt.ylim(0, maxs + 100)
plt.legend(["rgb", "sp", "rgb+sp"])
plt.xlabel('index')
plt.ylabel('1/km')
plt.savefig("./test_output/iRMSEs.png")
plt.close()
ave_MAE = np.mean(MAE_list)
var_MAE = np.var(MAE_list)
ave_iMAE = np.mean(iMAE_list)
var_iMAE = np.var(iMAE_list)
ave_RMSE = np.mean(RMSE_list)
var_RMSE = np.var(RMSE_list)
ave_iRMSE = np.mean(iRMSEs_list)
var_iRMSE = np.var(iRMSEs_list)
######################################################
ave_rgbMAE = np.mean(rgbMAE_list)
var_rgbMAE = np.var(rgbMAE_list)
ave_rgbiMAE = np.mean(rgbiMAE_list)
var_rgbiMAE = np.var(rgbiMAE_list)
ave_rgbRMSE = np.mean(rgbRMSE_list)
var_rgbRMSE = np.var(rgbRMSE_list)
ave_rgbiRMSE = np.mean(rgbiRMSEs_list)
var_rgbiRMSE = np.var(rgbiRMSEs_list)
######################################################
ave_spMAE = np.mean(spMAE_list)
var_spMAE = np.var(spMAE_list)
ave_spiMAE = np.mean(spiMAE_list)
var_spiMAE = np.var(spiMAE_list)
ave_spRMSE = np.mean(spRMSE_list)
var_spRMSE = np.var(spRMSE_list)
ave_spiRMSE = np.mean(spiRMSEs_list)
var_spiRMSE = np.var(spiRMSEs_list)
print("^^^^^^^^^^^^^^^^")
print(ave_MAE)
plt.figure(12)
xx = list(range(0, 3))
#plt.subplot(326)
#plt.axis('off')
#plt.title('mask map',fontsize='medium',fontweight='bold')
plt.bar([1], [ave_rgbMAE], width=0.2, color=['r'])
plt.bar([2], [ave_spMAE], width=0.2, color=['g'])
plt.bar([3], [ave_MAE], width=0.2, color=['b'])
plt.xlabel('index')
plt.ylabel('mm')
plt.legend(["rgb", "sp", "rgb+sp"])
plt.title("MAE")
plt.savefig("./test_output/MAE_BAR.png")
plt.close()
plt.bar([1], [ave_rgbiMAE], width=0.2, color=['r'])
plt.bar([2], [ave_spiMAE], width=0.2, color=['g'])
plt.bar([3], [ave_iMAE], width=0.2, color=['b'])
plt.xlabel('index')
plt.ylabel('1/km')
plt.legend(["rgb", "sp", "rgb+sp"])
plt.title("iMAE")
mins = min([ave_iMAE, ave_rgbiMAE, ave_spiMAE])
maxs = max([ave_iMAE, ave_rgbiMAE, ave_spiMAE])
plt.ylim(0, maxs + 30)
plt.savefig("./test_output/iMAE_BAR.png")
plt.close()
plt.bar([1], [ave_rgbRMSE], width=0.2, color=['r'])
plt.bar([2], [ave_spRMSE], width=0.2, color=['g'])
plt.bar([3], [ave_RMSE], width=0.2, color=['b'])
plt.legend(["rgb", "sp", "rgb+sp"])
#plt.legend(["without SE"])
plt.xlabel('mm')
plt.ylabel('1/km')
plt.title("RMSE")
plt.savefig("./test_output/RMSE_BAR.png")
plt.close()
plt.bar([1], [ave_rgbiRMSE], width=0.2, color=['r'])
plt.bar([2], [ave_spiRMSE], width=0.2, color=['g'])
plt.bar([3], [ave_iRMSE], width=0.2, color=['b'])
mins = min([ave_iRMSE, ave_rgbiRMSE, ave_spiRMSE])
maxs = max([ave_iRMSE, ave_rgbiRMSE, ave_spiRMSE])
plt.ylim(0, maxs + 30)
plt.legend(["rgb", "sp", "rgb+sp"])
#plt.legend(["without SE"])
plt.xlabel('index')
plt.ylabel('1/km')
plt.title("iRMSE")
plt.savefig("./test_output/iRMSE_BAR.png")
plt.close()
