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SSIM and kornia.geometry.depth.warp_frame_depth #72

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f49bc77
Update spatial_photometric_consistency_loss.py
essamgoda Oct 19, 2022
f0999f5
Update temporal_photometric_consistency_loss.py
essamgoda Oct 19, 2022
2603efd
Update temporal_photometric_consistency_loss.py
essamgoda Oct 19, 2022
fd28e5f
Update disparity_consistency_loss.py
essamgoda Oct 19, 2022
dc8d6d5
Update disparity_consistency_loss.py
essamgoda Oct 19, 2022
22bfba4
Update registration_loss.py
essamgoda Oct 19, 2022
b4da405
Update unsupervised_depth_problem.py
essamgoda Oct 19, 2022
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4 changes: 2 additions & 2 deletions undeepvo/criterion/disparity_consistency_loss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,12 @@ def get_disparities(self, left_depth_map, right_depth_map):
return left_disparity, right_disparity

def generate_disparity_maps(self, left_disparity, right_disparity, left_current_depth, right_current_depth):
generated_right_disparity = kornia.warp_frame_depth(image_src=left_disparity,
generated_right_disparity = kornia.geometry.depth.warp_frame_depth(image_src=left_disparity,
depth_dst=right_current_depth,
src_trans_dst=self.transform_from_left_to_right,
camera_matrix=self.left_camera_matrix)

generated_left_disparity = kornia.warp_frame_depth(image_src=right_disparity,
generated_left_disparity = kornia.geometry.depth.warp_frame_depth(image_src=right_disparity,
depth_dst=left_current_depth,
src_trans_dst=torch.inverse(
self.transform_from_left_to_right),
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4 changes: 2 additions & 2 deletions undeepvo/criterion/registration_loss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,14 @@ def __init__(self, registration_lambda, camera_matrix):
self.camera_matrix = camera_matrix

def generate_next_image(self, current_image, next_depth, transformation_from_next_to_current):
generated_next_image = kornia.warp_frame_depth(current_image,
generated_next_image = kornia.geometry.depth.warp_frame_depth(current_image,
next_depth,
transformation_from_next_to_current,
self.camera_matrix)
return generated_next_image

def generate_current_image(self, next_image, current_depth, transformation_from_current_to_next):
generated_current_image = kornia.warp_frame_depth(next_image,
generated_current_image = kornia.geometry.depth.warp_frame_depth(next_image,
current_depth,
transformation_from_current_to_next,
self.camera_matrix)
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6 changes: 3 additions & 3 deletions undeepvo/criterion/spatial_photometric_consistency_loss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,16 +16,16 @@ def __init__(self, lambda_s, left_camera_matrix, right_camera_matrix, transform_
self.transform_from_left_to_right = transform_from_left_to_right

self.l1_loss = torch.nn.L1Loss()
self.SSIM_loss = kornia.losses.SSIM(window_size=self.window_size, reduction=self.reduction,
self.SSIM_loss = kornia.losses.SSIMLoss(window_size=self.window_size, reduction=self.reduction,
max_val=self.max_val)

def forward(self, left_current_img, right_current_img, left_current_depth, right_current_depth):
generated_right_img = kornia.warp_frame_depth(image_src=left_current_img,
generated_right_img = kornia.geometry.depth.warp_frame_depth(image_src=left_current_img,
depth_dst=right_current_depth,
src_trans_dst=torch.inverse(self.transform_from_left_to_right),
camera_matrix=self.left_camera_matrix)

generated_left_img = kornia.warp_frame_depth(image_src=right_current_img,
generated_left_img = kornia.geometry.depth.warp_frame_depth(image_src=right_current_img,
depth_dst=left_current_depth,
src_trans_dst=self.transform_from_left_to_right,
camera_matrix=self.right_camera_matrix)
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6 changes: 3 additions & 3 deletions undeepvo/criterion/temporal_photometric_consistency_loss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,22 +11,22 @@ def __init__(self, camera_matrix, right_camera_matrix,
super().__init__()
self.camera_matrix = camera_matrix
self.lambda_s = lambda_s
self.ssim_loss = kornia.losses.SSIM(window_size=window_size, reduction=reduction, max_val=max_val)
self.ssim_loss = kornia.losses.SSIMLoss(window_size=window_size, reduction=reduction, max_val=max_val)
self.l1_loss = torch.nn.L1Loss()

def calculate_loss(self, image1, image2):
loss = self.lambda_s * self.ssim_loss(image1, image2) + (1 - self.lambda_s) * self.l1_loss(image1, image2)
return loss

def generate_next_image(self, current_image, next_depth, transformation_from_next_to_current):
generated_next_image = kornia.warp_frame_depth(current_image,
generated_next_image = kornia.geometry.depth.warp_frame_depth(current_image,
next_depth,
transformation_from_next_to_current,
self.camera_matrix)
return generated_next_image

def generate_current_image(self, next_image, current_depth, transformation_from_current_to_next):
generated_current_image = kornia.warp_frame_depth(next_image,
generated_current_image = kornia.geometry.depth.warp_frame_depth(next_image,
current_depth,
transformation_from_current_to_next,
self.camera_matrix)
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4 changes: 2 additions & 2 deletions undeepvo/problems/unsupervised_depth_problem.py
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Original file line number Diff line number Diff line change
Expand Up @@ -123,11 +123,11 @@ def _get_synthesized_image(self):
right_current_image = data_point["right_current_image"][None].to(self._device)
cameras_calibration = self._dataset_manager.get_cameras_calibration(device=self._device)
with torch.no_grad():
generated_left_image = kornia.warp_frame_depth(right_current_image,
generated_left_image = kornia.geometry.depth.warp_frame_depth(right_current_image,
left_current_depth,
cameras_calibration.transform_from_left_to_right,
cameras_calibration.left_camera_matrix)
generated_right_image = kornia.warp_frame_depth(left_current_image,
generated_right_image = kornia.geometry.depth.warp_frame_depth(left_current_image,
right_current_depth,
torch.inverse(
cameras_calibration.transform_from_left_to_right),
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