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bts_dataloader.py
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bts_dataloader.py
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# Copyright (C) 2019 Jin Han Lee
#
# This file is a part of BTS.
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>
from __future__ import absolute_import, division, print_function
import tensorflow as tf
from tensorflow.python.ops import array_ops
class BtsDataloader(object):
"""bts dataloader"""
def __init__(self, data_path, gt_path, filenames_file, params, mode,
do_rotate=False, degree=5.0, do_kb_crop=False):
self.data_path = data_path
self.gt_path = gt_path
self.params = params
self.mode = mode
self.do_rotate = do_rotate
self.degree = degree
self.do_kb_crop = do_kb_crop
with open(filenames_file, 'r') as f:
filenames = f.readlines()
if mode == 'train':
assert not self.params.batch_size % self.params.num_gpus
mini_batch_size = int(self.params.batch_size / self.params.num_gpus)
self.loader = tf.data.Dataset.from_tensor_slices(filenames)
self.loader = self.loader.apply(tf.contrib.data.shuffle_and_repeat(len(filenames)))
self.loader = self.loader.map(self.parse_function_train, num_parallel_calls=params.num_threads)
self.loader = self.loader.map(self.train_preprocess, num_parallel_calls=params.num_threads)
self.loader = self.loader.batch(mini_batch_size)
self.loader = self.loader.prefetch(mini_batch_size)
else:
self.loader = tf.data.Dataset.from_tensor_slices(filenames)
self.loader = self.loader.map(self.parse_function_test, num_parallel_calls=1)
self.loader = self.loader.map(self.test_preprocess, num_parallel_calls=1)
self.loader = self.loader.batch(1)
self.loader = self.loader.prefetch(1)
def parse_function_test(self, line):
split_line = tf.string_split([line]).values
image_path = tf.string_join([self.data_path, split_line[0]])
if self.params.dataset == 'nyu':
image = tf.image.decode_jpeg(tf.read_file(image_path))
else:
image = tf.image.decode_png(tf.read_file(image_path))
image = tf.image.convert_image_dtype(image, tf.float32)
focal = tf.string_to_number(split_line[2])
if self.do_kb_crop is True:
height = tf.shape(image)[0]
width = tf.shape(image)[1]
top_margin = tf.to_int32(height - 352)
left_margin = tf.to_int32((width - 1216) / 2)
image = image[top_margin:top_margin + 352, left_margin:left_margin + 1216, :]
return image, focal
def test_preprocess(self, image, focal):
image.set_shape([None, None, 3])
image *= 255.0
image = self.mean_image_subtraction(image, [123.68, 116.78, 103.94])
if self.params.encoder == 'densenet161_bts' or self.params.encoder == 'densenet121_bts':
image *= 0.017
return image, focal
def parse_function_train(self, line):
split_line = tf.string_split([line]).values
image_path = tf.string_join([self.data_path, split_line[0]])
depth_gt_path = tf.string_join([self.gt_path, tf.string_strip(split_line[1])])
if self.params.dataset == 'nyu':
image = tf.image.decode_jpeg(tf.read_file(image_path))
else:
image = tf.image.decode_png(tf.read_file(image_path))
depth_gt = tf.image.decode_png(tf.read_file(depth_gt_path), channels=0, dtype=tf.uint16)
if self.params.dataset == 'nyu':
depth_gt = tf.cast(depth_gt, tf.float32) / 1000.0
else:
depth_gt = tf.cast(depth_gt, tf.float32) / 256.0
image = tf.image.convert_image_dtype(image, tf.float32)
focal = tf.string_to_number(split_line[2])
# To avoid blank boundaries due to pixel registration
if self.params.dataset == 'nyu':
depth_gt = depth_gt[45:472, 43:608, :]
image = image[45:472, 43:608, :]
if self.do_kb_crop is True:
print('Cropping training images as kitti benchmark images')
height = tf.shape(image)[0]
width = tf.shape(image)[1]
top_margin = tf.to_int32(height - 352)
left_margin = tf.to_int32((width - 1216) / 2)
depth_gt = depth_gt[top_margin:top_margin + 352, left_margin:left_margin + 1216, :]
image = image[top_margin:top_margin + 352, left_margin:left_margin + 1216, :]
if self.do_rotate is True:
random_angle = tf.random_uniform([], - self.degree * 3.141592 / 180, self.degree * 3.141592 / 180)
image = tf.contrib.image.rotate(image, random_angle, interpolation='BILINEAR')
depth_gt = tf.contrib.image.rotate(depth_gt, random_angle, interpolation='NEAREST')
print('Do random cropping from fixed size input')
image, depth_gt = self.random_crop_fixed_size(image, depth_gt)
return image, depth_gt, focal
def train_preprocess(self, image, depth_gt, focal):
# Random flipping
do_flip = tf.random_uniform([], 0, 1)
image = tf.cond(do_flip > 0.5, lambda: tf.image.flip_left_right(image), lambda: image)
depth_gt = tf.cond(do_flip > 0.5, lambda: tf.image.flip_left_right(depth_gt), lambda: depth_gt)
# Random gamma, brightness, color augmentation
do_augment = tf.random_uniform([], 0, 1)
image = tf.cond(do_augment > 0.5, lambda: self.augment_image(image), lambda: image)
image.set_shape([self.params.height, self.params.width, 3])
depth_gt.set_shape([self.params.height, self.params.width, 1])
image *= 255.0
image = self.mean_image_subtraction(image, [123.68, 116.78, 103.94])
if self.params.encoder == 'densenet161_bts' or self.params.encoder == 'densenet121_bts':
image *= 0.017
return image, depth_gt, focal
def random_crop_fixed_size(self, image, depth_gt):
image_depth = tf.concat([image, depth_gt], 2)
image_depth_cropped = tf.random_crop(image_depth, [self.params.height, self.params.width, 4])
image_cropped = image_depth_cropped[:, :, 0:3]
depth_gt_cropped = tf.expand_dims(image_depth_cropped[:, :, 3], 2)
return image_cropped, depth_gt_cropped
def augment_image(self, image):
# gamma augmentation
gamma = tf.random_uniform([], 0.9, 1.1)
image_aug = image ** gamma
# brightness augmentation
if self.params.dataset == 'nyu':
brightness = tf.random_uniform([], 0.75, 1.25)
else:
brightness = tf.random_uniform([], 0.9, 1.1)
image_aug = image_aug * brightness
# color augmentation
colors = tf.random_uniform([3], 0.9, 1.1)
white = tf.ones([tf.shape(image)[0], tf.shape(image)[1]])
color_image = tf.stack([white * colors[i] for i in range(3)], axis=2)
image_aug *= color_image
# clip
if self.params.encoder == 'densenet161_bts' or self.params.encoder == 'densenet121_bts':
image_aug = tf.clip_by_value(image_aug, 0, 1)
else:
image_aug = tf.clip_by_value(image_aug, 0, 255)
return image_aug
@staticmethod
def mean_image_subtraction(image, means):
"""Subtracts the given means from each image channel.
For example:
means = [123.68, 116.779, 103.939]
image = mean_image_subtraction(image, means)
Note that the rank of `image` must be known.
Args:
image: a tensor of size [height, width, C].
means: a C-vector of values to subtract from each channel.
Returns:
the centered image.
Raises:
ValueError: If the rank of `image` is unknown, if `image` has a rank other
than three or if the number of channels in `image` doesn't match the
number of values in `means`.
"""
if image.get_shape().ndims != 3:
raise ValueError('Input must be of size [height, width, C>0]')
num_channels = image.get_shape().as_list()[-1]
if len(means) != num_channels:
raise ValueError('len(means) must match the number of channels')
channels = tf.split(axis=2, num_or_size_splits=num_channels, value=image)
for i in range(num_channels):
channels[i] -= means[i]
return tf.concat(axis=2, values=channels)