initilization.

.gitignore

@@ -0,0 +1,33 @@
+## ginore this file ##
+*.pth
+*.log
+*.pyc
+*.swp
+*.pfm
+*.exr
+*.obj
+*.png
+*.jpg
+*.bmp
+*.model
+*.db
+*.so
+*.so.*
+*.npy
+*.o
+*.egg
+tmp
+./data
+data
+./models
+./detect_results
+./tools/FusionPortal/lib
+core
+trained/
+submit_results/
+submit_results
+models
+trained
+tags
+runs/
+runs

3d-fusion.sh

@@ -0,0 +1,29 @@
+no=0063
+girl=02
+#girl02_R_camera8_R_XNCG_ep0001_cam01_rd_lgt.0125.png.pfm
+#girl02_R_camera7_R_XNCG_ep0001_cam01_rd_lgt.0095.png.pfm
+#girl02_R_camera5_R_XNCG_ep0001_cam01_rd_lgt.0001.png.pfm
+dist=/media/sf_Shared_Data/dispnet/FusionPortal/data
+#left_dis_root=./detect_result/girl-crop-noscale-3nd-epe0.152
+#left_dis_root=./detect_result/girl-crop-noscale-2nd-epe0.182
+left_dis_root=./detect_results/virtual
+k=0
+for ((cam=1;cam <= 8;cam++)) 
+do
+    #left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl$girl/camera${cam}_R # >= girl05
+    #left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl$girl/R/camera${cam}_R
+    left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/ep0010/camera${cam}_R
+    #img=XNCG_ep00${girl}_cam01_rd_lgt.${no}.png # >= girl 05
+    #img=XNCG_ep0001_cam01_rd_lgt.${no}.png # <= girl 04
+    img=XNCG_ep0010_cam01_rd_lgt.${no}.png 
+    target=$dist/${k}
+    #disp=girl${girl}_camera${cam}_R_XNCG_ep00${girl}_cam01_rd_lgt.${no}.png.pfm # >= girl 05
+    #disp=girl${girl}_R_camera${cam}_R_XNCG_ep0001_cam01_rd_lgt.${no}.png.pfm # <= girl 04
+    disp=camera${cam}_R/${img}.pfm
+    mkdir $target
+    cp $left_rgb_root/$img $target/0.png
+    #./tools/pfm_viewer ${left_dis_root}/${disp} test.exr
+    cp ${left_dis_root}/${disp} $target/0.pfm
+    k=$(expr $k + 1)
+done
+python tools/process_cam_data.py

3d-vision.sh

@@ -0,0 +1,143 @@
+img=img00044
+inv_baseline=0.0038
+focal=1800
+maxdisp=200
+mindisp=1
+#real_release_frames_cleanpass_left_img00008.bmp.pfm
+disp_root=./detect_results/real-dispnet3
+#left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/real_release/frames_cleanpass/left
+left_rgb_root=/home/vradmin/dispflownet-release/data/real_release/frames_cleanpass/left
+# nn 3d model
+rgb=${left_rgb_root}/${img}.bmp
+disp=${disp_root}/real_release_frames_cleanpass_left_${img}.bmp.pfm
+#jview $rgb
+#jview $disp
+#disp_root=./detect_result/domain_adaptation
+#disp_root=./detect_result/flyingthings_model
+#disp_root=./detect_results/flyingthings_model/disp3
+#disp_root=./detect_result/cropfrom1024model_real_detect_cleandata_scale1024
+#left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/real_release/frames_cleanpass/left
+#left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/custom/left
+#rgb=${left_rgb_root}/${img}.png
+#disp=${disp_root}/custom_left_${img}.png.pfm
+# nn 3d model
+#rgb=${left_rgb_root}/${img}.bmp
+#disp=${disp_root}/real_release_frames_cleanpass_left_${img}.bmp.pfm
+#disp=${disp_root}/real_release_frames_cleanpass_left_${img}.pfm
+#jview $rgb
+#jview $disp
+./tools/pfm_viewer $disp  predict_${img}.exr
+./tools/DisparityTo3D predict_${img}.exr ${img}.obj $rgb ${inv_baseline} ${focal} ${maxdisp} ${mindisp}
+#cp ${img}.obj /media/sf_Shared_Data/dispnet/
+
+# # sgm 3d model
+# pfm_viewer ./data_local/dispnet/real_release/sgm_disp/left/${img}.pfm ./real_detect_result_sgm/predict_${img}.exr
+# DisparityTo3D ./real_detect_result_sgm/predict_${img}.exr ./real_obj/${img}.obj ./data_local/dispnet/real_release/frames_cleanpass/left/${img}.bmp
+# cd ./real_obj
+# meshlab ${img}.obj
+# cd ..
+
+
+# # flyingthing3D
+# f1=A
+# f2=0027
+# f3=0015
+# #left_rgb_root=/home/gpgpu-sim/gpuhome/pytorch-dispnet/data/FlyingThings3D_release/frames_cleanpass/
+# left_rgb_root=/media/gpuhomedataset/FlyingThings3D_release/frames_cleanpass/
+# #left_dis_root=/home/gpgpu-sim/gpuhome/pytorch-dispnet/data_local/clean_dispnet/FlyingThings3D_release/clean_disparity/
+# #left_dis_root=/home/gpgpu-sim/gpuhome/pytorch-dispnet/data_local/FlyingThings3D_release/disparity/
+# left_dis_root=/home/gpgpu-sim/gpuhome/pytorch-dispnet/detect_results/flying_detect_cleandata
+# #left_dis_root=/home/gpgpu-sim/gpuhome/pytorch-dispnet/flying_detect_result
+# img=TEST/${f1}/${f2}/left/${f3}
+# inv_baseline=0.0038
+# focal=500
+# maxdisp=800
+# mindisp=10
+# jview ${left_rgb_root}/${img}.png
+# #jview ${left_dis_root}/${img}.pfm
+# jview ${left_dis_root}/predict_${f1}_${f2}_${f3}.pfm
+# #pfm_viewer ${left_dis_root}/${img}.pfm test.exr
+# ./tools/pfm_viewer ${left_dis_root}/predict_${f1}_${f2}_${f3}.pfm test.exr
+# ./tools/DisparityTo3D test.exr test.obj ${left_rgb_root}/${img}.png ${inv_baseline} ${focal} ${maxdisp} ${mindisp}
+# meshlab test.obj
+
+# girl
+#no=0226
+#left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl
+##left_dis_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl
+#left_dis_root=./girl_detect_cleandata
+#img=girl_camera1_Rcamera1_R.${no}.png
+##disp=girl_camera1_Rcamera1_R.Z.${no}.pfm
+#disp=predict_girl_camera1_Rcamera1_R.${no}.png.pfm
+#inv_baseline=0.05
+#focal=1050
+#maxdisp=480
+#mindisp=0
+#jview ${left_rgb_root}/${img}
+#jview ${left_dis_root}/${disp}
+#./tools/pfm_viewer ${left_dis_root}/${disp} test.exr
+#./tools/DisparityTo3D test.exr test.obj ${left_rgb_root}/${img} ${inv_baseline} ${focal} ${maxdisp} ${mindisp}
+#cp test.obj /media/sf_Shared_Data/dispnet/
+#meshlab test.obj
+
+
+# girl02
+#girl05_camera8_R_XNCG_ep0005_cam01_rd_lgt.0053.png.pfm
+#no=0053
+#cam=8
+#girl=05
+#left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl$girl/camera${cam}_R
+#img=XNCG_ep00${girl}_cam01_rd_lgt.${no}.png
+##left_dis_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/girl02/R_Z/camera${cam}_R_Z/Z_color
+##disp=XNCG_ep0001_cam01_rd_lgt_Z.Z.${no}.pfm
+#
+##girl05_camera2_R_XNCG_ep0005_cam01_rd_lgt.0009.png.pfm
+#left_dis_root=./detect_result/girl-crop-noscale-2nd
+##disp=girl05_R_camera${cam}_R_XNCG_ep0005_cam01_rd_lgt.${no}.png.pfm
+#disp=girl${girl}_camera${cam}_R_XNCG_ep00${girl}_cam01_rd_lgt.${no}.png.pfm
+#inv_baseline=0.05
+#focal=1050
+#maxdisp=480
+#mindisp=0
+#jview ${left_rgb_root}/${img}
+#jview ${left_dis_root}/${disp}
+#./tools/pfm_viewer ${left_dis_root}/${disp} test.exr
+#./tools/DisparityTo3D test.exr test.obj ${left_rgb_root}/${img} ${inv_baseline} ${focal} ${maxdisp} ${mindisp}
+##cp test.obj /media/sf_Shared_Data/dispnet/test2.obj
+#cp test.obj /media/sf_Shared_Data/dispnet/
+
+# original 3d fusion
+img=img00003
+
+python fusion.py ${img}
+jview ./test.pfm 
+pfm_viewer ./test.pfm ./real_detect_result_s1.5/predict_${img}.exr
+DisparityTo3D ./real_detect_result_s1.5/predict_${img}.exr ./real_obj/${img}.obj ./data_local/dispnet/real_release/frames_cleanpass/left/${img}.bmp
+cd ./real_obj
+meshlab ${img}.obj
+cd ..
+
+# img=img00000
+# 
+# # pfm_viewer ./real_detect_result_s1.4/predict_${img}.pfm ./real_detect_result_s1.4/predict_${img}.exr
+# pfm_viewer /media/sf_Shared_Data/gpuhome/pytorch-dispnet/data/dispnet/real_release/sgm_disp/left/${img}.pfm ./real_detect_result_s1.4/predict_${img}.exr
+# DisparityTo3D ./real_detect_result_s1.4/predict_${img}.exr ./${img}.obj ./data/dispnet/real_release/frames_cleanpass/left/${img}.bmp
+# meshlab ${img}.obj
+# girl
+directory=ep0010
+no=0015
+cam=camera2_R
+left_rgb_root=/media/sf_Shared_Data/gpuhomedataset/dispnet/virtual/ep0010
+left_dis_root=./detect_results/virtual
+img=XNCG_${directory}_cam01_rd_lgt.${no}.png
+disp=${cam}/XNCG_${directory}_cam01_rd_lgt.${no}.png.pfm
+inv_baseline=0.05
+focal=1050
+maxdisp=480
+mindisp=0
+jview ${left_rgb_root}/${cam}/${img}
+jview ${left_dis_root}/${disp}
+./tools/pfm_viewer ${left_dis_root}/${disp} test.exr
+./tools/DisparityTo3D test.exr test.obj ${left_rgb_root}/${cam}/${img} ${inv_baseline} ${focal} ${maxdisp} ${mindisp}
+cp test.obj /media/sf_Shared_Data/dispnet/${img}.obj
+

compile.sh

@@ -0,0 +1,35 @@
+#export LD_LIBRARY_PATH="/home/feihu/anaconda3/lib:$LD_LIBRARY_PATH"
+#export LD_INCLUDE_PATH="/home/feihu/anaconda3/include:$LD_INCLUDE_PATH"
+#export CUDA_HOME="/usr/local/cuda-10.0"
+#export PATH="/home/feihu/anaconda3/bin:/usr/local/cuda-10.0/bin:$PATH"
+#export CPATH="/usr/local/cuda-10.0/include"
+#export CUDNN_INCLUDE_DIR="/usr/local/cuda-10.0/include"
+#export CUDNN_LIB_DIR="/usr/local/cuda-10.0/lib64"
+
+#export LD_LIBRARY_PATH="/home/zhangfeihu/anaconda3/lib:$LD_LIBRARY_PATH"
+#export LD_INCLUDE_PATH="/home/zhangfeihu/anaconda3/include:$LD_INCLUDE_PATH"
+#export CUDA_HOME="/home/work/cuda-9.2"
+#export PATH="/home/zhangfeihu/anaconda3/bin:/home/work/cuda-9.2/bin:$PATH"
+#export CPATH="/home/work/cuda-9.2/include"
+#export CUDNN_INCLUDE_DIR="/home/work/cudnn/cudnn_v7/include"
+#export CUDNN_LIB_DIR="/home/work/cudnn/cudnn_v7/lib64"
+TORCH=$(python -c "import os; import torch; print(os.path.dirname(torch.__file__))")
+#echo $TORCH
+cd libs/GANet
+python setup.py clean
+rm -rf build
+python setup.py build
+cp -r build/lib* build/lib
+
+cd ../sync_bn
+python setup.py clean
+rm -rf build
+python setup.py build
+cp -r build/lib* build/lib
+
+cd ../..
+echo "" > libs/GANet/build/__init__.py
+echo "" > libs/GANet/build/lib/__init__.py
+echo "" > libs/sync_bn/build/__init__.py
+echo "" > libs/sync_bn/build/lib/__init__.py
+

dataloader/EXRloader.py

@@ -0,0 +1,62 @@
+import numpy
+import OpenEXR
+import Imath
+import imageio
+import glob
+import os
+
+def exr2hdr(exrpath):
+    File = OpenEXR.InputFile(exrpath)
+    PixType = Imath.PixelType(Imath.PixelType.FLOAT)
+    DW = File.header()['dataWindow']
+    CNum = len(File.header()['channels'].keys())
+    if (CNum > 1):
+    	Channels = ['R', 'G', 'B']
+    	CNum = 3
+    else:
+    	Channels = ['G']
+    Size = (DW.max.x - DW.min.x + 1, DW.max.y - DW.min.y + 1)
+    Pixels = [numpy.fromstring(File.channel(c, PixType), dtype=numpy.float32) for c in Channels]
+    hdr = numpy.zeros((Size[1],Size[0],CNum),dtype=numpy.float32)
+    if (CNum == 1):
+        hdr[:,:,0] = numpy.reshape(Pixels[0],(Size[1],Size[0]))
+    else:
+	    hdr[:,:,0] = numpy.reshape(Pixels[0],(Size[1],Size[0]))
+	    hdr[:,:,1] = numpy.reshape(Pixels[1],(Size[1],Size[0]))
+	    hdr[:,:,2] = numpy.reshape(Pixels[2],(Size[1],Size[0]))
+    return hdr
+
+def writehdr(hdrpath,hdr):
+	h, w, c = hdr.shape
+	if c == 1:
+		hdr = numpy.pad(hdr, ((0, 0), (0, 0), (0, 2)), 'constant')
+		hdr[:,:,1] = hdr[:,:,0]
+		hdr[:,:,2] = hdr[:,:,0]
+	imageio.imwrite(hdrpath,hdr,format='hdr')
+
+def load_exr(filename):
+	hdr = exr2hdr(filename)
+	h, w, c = hdr.shape
+	if c == 1:
+		hdr = numpy.squeeze(hdr)
+	return hdr
+
+
+def test_exr():
+	files = glob.glob('D:/MLProjects/data/home/*.exr')
+	savepath = 'D:/MLProjects/data/home'
+	total = len(files)
+	count = 0
+	print ('Files Num:', total)	
+	for file in files:
+	    hdr = exr2hdr(file)
+	    filename,file_ext = os.path.splitext(file)
+	    filename = os.path.basename(filename)
+	    filename = filename + '.hdr'
+	    curpath = os.path.join(savepath,filename)
+	    writehdr(curpath,hdr)
+	    count = count + 1
+	    print ('process:', count, '/', total)
+
+if __name__ == '__main__':
+    test_exr()

dataloader/GANet/data.py

@@ -0,0 +1,10 @@
+from .dataset import DatasetFromList
+
+def get_training_set(data_path, train_list, crop_size=[256,256], left_right=False, kitti=False, kitti2015=False, shift=0):
+    return DatasetFromList(data_path, train_list,
+                             crop_size, True, left_right, kitti, kitti2015, shift)
+
+
+def get_test_set(data_path, test_list, crop_size=[256,256], left_right=False, kitti=False, kitti2015=False):
+    return DatasetFromList(data_path, test_list,
+                             crop_size, False, left_right, kitti, kitti2015)