unsupervised monodepth -- tensorflow

数据

图像数据曾广

gamma变换；亮度变换；颜色变换；饱和度；

    def augment_image_pair(self, left_image, right_image):
        # randomly shift gamma
        random_gamma = tf.random_uniform([], 0.8, 1.2)
        left_image_aug  = left_image  ** random_gamma
        right_image_aug = right_image ** random_gamma

        # randomly shift brightness
        random_brightness = tf.random_uniform([], 0.5, 2.0)
        left_image_aug  =  left_image_aug * random_brightness
        right_image_aug = right_image_aug * random_brightness

        # randomly shift color
        random_colors = tf.random_uniform([3], 0.8, 1.2)
        white = tf.ones([tf.shape(left_image)[0], tf.shape(left_image)[1]])
        color_image = tf.stack([white * random_colors[i] for i in range(3)], axis=2)
        left_image_aug  *= color_image
        right_image_aug *= color_image

        # saturate
        left_image_aug  = tf.clip_by_value(left_image_aug,  0, 1)
        right_image_aug = tf.clip_by_value(right_image_aug, 0, 1)

        return left_image_aug, right_image_aug


do_augment  = tf.random_uniform([], 0, 1)
left_image, right_image = tf.cond(do_augment > 0.5, lambda: self.augment_image_pair(left_image, right_image), lambda: (left_image, right_image))

左右翻转

tf.image.flip_left_right(right_image_o)