Merge branch 'master' of git.elphel.com:Elphel/python3-imagej-tiff

explore_data.py

@@ -70,6 +70,45 @@ def readTFRewcordsEpoch(train_filename):
     gt_ds =            np.array(gt_ds_list)
     return corr2d, target_disparity, gt_ds   
 
+def writeTFRewcordsImageTiles(img_path, tfr_filename): # test_set=False):
+#        train_filename = 'train.tfrecords'  # address to save the TFRecords file
+      # open the TFRecords file
+      num_tiles = 242*324 # fixme
+      all_image_tiles = np.array(range(num_tiles))
+      corr_layers =  ['hor-pairs', 'vert-pairs','diagm-pair', 'diago-pair']
+      img =          ijt.imagej_tiff(test_corr, corr_layers, all_image_tiles)
+
+      corr2d =           img.corr2d.reshape((num_tiles,-1))
+      target_disparity = img.target_disparity.reshape((num_tiles,-1))
+      gt_ds =            img.gt_ds.reshape((num_tiles,-1))
+
+      if not  '.tfrecords' in tfr_filename:
+          tfr_filename += '.tfrecords'
+
+      tfr_filename=tfr_filename.replace(' ','_')
+      try:
+          os.makedirs(os.path.dirname(tfr_filename))
+      except:
+          pass     
+          
+      writer = tf.python_io.TFRecordWriter(tfr_filename)
+      dtype_feature_corr2d =   _dtype_feature(corr2d)
+      dtype_target_disparity = _dtype_feature(target_disparity)
+      dtype_feature_gt_ds =    _dtype_feature(gt_ds)
+      for i in range(num_tiles):
+          x = corr2d[i].astype(np.float32)
+          y = target_disparity[i].astype(np.float32)
+          z = gt_ds[i].astype(np.float32)
+          d_feature = {'corr2d':          dtype_feature_corr2d(x),
+                       'target_disparity':dtype_target_disparity(y),
+                       'gt_ds':           dtype_feature_gt_ds(z)}
+          example = tf.train.Example(features=tf.train.Features(feature=d_feature))
+          writer.write(example.SerializeToString())
+          pass
+      writer.close()
+      sys.stdout.flush()        
+
+
 
 class ExploreData:
     PATTERN = "*-DSI_COMBO.tiff"
@@ -142,10 +181,6 @@ class ExploreData:
                 strength =  np.nan_to_num(strength, copy = False)  # likely should never happen
                 np.clip(disparity, disparity_min_clip, disparity_max_clip, out = disparity)
                 np.clip(strength, strength_min_clip, strength_max_clip, out = strength)
-#                if no_histogram:
-#                    strength *= good_tiles[ids]
-#            if no_histogram:
-#                return None # no histogram, just condition data
             good_tiles_list.append(good_tiles)
         combo_rds = np.concatenate(list_rds)
         hist, xedges, yedges = np.histogram2d( # xedges, yedges - just for debugging
@@ -157,8 +192,6 @@ class ExploreData:
             weights= np.concatenate(good_tiles_list).flatten())
         for i, combo_rds in enumerate(list_rds):
             for ids in range (combo_rds.shape[0]): #iterate over all scenes ds[2][rows][cols]
-#                strength =  combo_rds[ids][...,1]
-#                strength *= good_tiles_list[i][ids]
                 combo_rds[ids][...,1]*= good_tiles_list[i][ids]
         return hist, xedges, yedges
     
@@ -637,6 +670,9 @@ class ExploreData:
         writer.close()
         sys.stdout.flush()        
 
+
+
+    
     def showVariance(self,
             rds_list,           # list of disparity/strength files, suchas training, testing 
             disp_var_list,      # list of disparity variance files. Same shape(but last dim) as rds_list
@@ -722,6 +758,20 @@ if __name__ == "__main__":
   except IndexError:
       ml_subdir =   "ml"
       
+      
+      
+#  pathTFR = "/mnt/dde6f983-d149-435e-b4a2-88749245cc6c/home/eyesis/x3d_data/data_sets/tf_data_3x3b" #no trailing "/"
+  test_corr = '/home/eyesis/x3d_data/models/var_main/www/html/x3domlet/models/all-clean/overlook/1527257933_150165/v04/mlr32_18a/1527257933_150165-ML_DATA-32B-O-FZ0.05-MAIN.tiff'
+  scene = os.path.basename(test_corr)[:17]
+  scene_version= os.path.basename(os.path.dirname(os.path.dirname(test_corr)))
+  fname =scene+'-'+scene_version 
+  img_filenameTFR = os.path.join(pathTFR,'img',fname)        
+  writeTFRewcordsImageTiles(test_corr, img_filenameTFR)
+  
+  pass
+  
+  exit(0)
+
   #Parameters to generate neighbors data. Set radius to 0 to generate single-tile     
   RADIUS = 1
   MIN_NEIBS = (2 * RADIUS + 1) * (2 * RADIUS + 1) # All tiles valid == 9

nn_ds_neibs2.py

+#!/usr/bin/env python3
+from numpy import float64
+from tensorflow.contrib.losses.python.metric_learning.metric_loss_ops import npairs_loss
+
+__copyright__ = "Copyright 2018, Elphel, Inc."
+__license__   = "GPL-3.0+"
+__email__     = "andrey@elphel.com"
+
+
+from PIL import Image
+
+import os
+import sys
+import glob
+
+import numpy as np
+import itertools
+
+import time
+
+import matplotlib.pyplot as plt
+
+import shutil
+
+TIME_START = time.time()
+TIME_LAST  = TIME_START
+DEBUG_LEVEL= 1
+DISP_BATCH_BINS =   20 # Number of batch disparity bins
+STR_BATCH_BINS =    10 # Number of batch strength bins
+FILES_PER_SCENE =    5 # number of random offset files for the scene to select from (0 - use all available)
+#MIN_BATCH_CHOICES = 10 # minimal number of tiles in a file for each bin to select from 
+#MAX_BATCH_FILES =   10 #maximal number of files to use in a batch
+#MAX_EPOCH =        500
+LR =               1e-4 # learning rate
+LR100 =            1e-4
+USE_CONFIDENCE =     False
+ABSOLUTE_DISPARITY = False # True # False # True # False
+DEBUG_PLT_LOSS =     True
+TILE_LAYERS =        4
+FILE_TILE_SIDE =     9
+TILE_SIDE =          9 # 7
+TILE_SIZE =         TILE_SIDE* TILE_SIDE # == 81
+FEATURES_PER_TILE =  TILE_LAYERS * TILE_SIZE# == 324
+EPOCHS_TO_RUN =     1000#0 #0
+EPOCHS_SAME_FILE =   20
+RUN_TOT_AVG =       100 # last batches to average. Epoch is 307 training  batches  
+#BATCH_SIZE =       1080//9 # == 120 Each batch of tiles has balanced D/S tiles, shuffled batches but not inside batches
+BATCH_SIZE =       2*1080//9 # == 120 Each batch of tiles has balanced D/S tiles, shuffled batches but not inside batches
+SHUFFLE_EPOCH =    True
+NET_ARCH1 =          0 # 6 #0 # 4 # 3 # overwrite with argv?
+NET_ARCH2 =          0 # 6 # 0 # 3 # overwrite with argv?
+ONLY_TILE =          None # 4 # None # 0 # 4# None # (remove all but center tile data), put None here for normal operation)
+ZIP_LHVAR =        True # combine _lvar and _hvar as odd/even elements 
+
+#DEBUG_PACK_TILES = True
+SUFFIX=str(NET_ARCH1)+'-'+str(NET_ARCH2)+ (["R","A"][ABSOLUTE_DISPARITY])
+# CLUSTER_RADIUS should match input data
+CLUSTER_RADIUS =     1 # 1 - 3x3, 2 - 5x5 tiles
+
+NN_LAYOUTS = {0:[0,   0,   0,   32,  20,  16],
+              1:[0,   0,   0,  256, 128,  64],
+              2:[0, 128,  32,   32,  32,  16],
+              3:[0,   0,  40,   32,  20,  16],
+              4:[0,   0,   0,   0,   16,  16],
+              5:[0,   0,  64,  32,   32,  16],
+              6:[0,   0,  32,  16,   16,  16],
+              }
+NN_LAYOUT1 = NN_LAYOUTS[NET_ARCH1]
+NN_LAYOUT2 = NN_LAYOUTS[NET_ARCH2]
+
+
+#http://stackoverflow.com/questions/287871/print-in-terminal-with-colors-using-python
+class bcolors:
+    HEADER = '\033[95m'
+    OKBLUE = '\033[94m'
+    OKGREEN = '\033[92m'
+    WARNING = '\033[38;5;214m'
+    FAIL = '\033[91m'
+    ENDC = '\033[0m'
+    BOLD = '\033[1m'
+    BOLDWHITE = '\033[1;37m'
+    UNDERLINE = '\033[4m'
+def print_time(txt="",end="\n"):
+    global TIME_LAST
+    t = time.time()
+    if txt:
+        txt +=" "
+    print(("%s"+bcolors.BOLDWHITE+"at %.4fs (+%.4fs)"+bcolors.ENDC)%(txt,t-TIME_START,t-TIME_LAST), end = end, flush=True)
+    TIME_LAST = t
+#reading to memory (testing)
+def readTFRewcordsEpoch(train_filename):
+#    filenames = [train_filename]
+#    dataset = tf.data.TFRecorDataset(filenames)
+    if not  '.tfrecords' in train_filename:
+        train_filename += '.tfrecords'
+    npy_dir_name = "npy"
+    dirname = os.path.dirname(train_filename) 
+    npy_dir = os.path.join(dirname, npy_dir_name)
+    filebasename, file_extension = os.path.splitext(train_filename)
+    filebasename = os.path.basename(filebasename)
+    file_corr2d =           os.path.join(npy_dir,filebasename + '_corr2d.npy')
+    file_target_disparity = os.path.join(npy_dir,filebasename + '_target_disparity.npy')
+    file_gt_ds =            os.path.join(npy_dir,filebasename + '_gt_ds.npy')
+    if (os.path.exists(file_corr2d) and
+        os.path.exists(file_target_disparity) and
+        os.path.exists(file_gt_ds)):
+        corr2d=            np.load (file_corr2d)
+        target_disparity = np.load(file_target_disparity)
+        gt_ds =            np.load(file_gt_ds)
+        pass
+    else:     
+        record_iterator = tf.python_io.tf_record_iterator(path=train_filename)
+        corr2d_list=[]
+        target_disparity_list=[]
+        gt_ds_list = []
+        for string_record in record_iterator:
+            example = tf.train.Example()
+            example.ParseFromString(string_record)
+            corr2d_list.append           (np.array(example.features.feature['corr2d'].float_list.value, dtype=np.float32))
+    #        target_disparity_list.append(np.array(example.features.feature['target_disparity'].float_list.value[0], dtype=np.float32))
+            target_disparity_list.append (np.array(example.features.feature['target_disparity'].float_list.value, dtype=np.float32))
+            gt_ds_list.append            (np.array(example.features.feature['gt_ds'].float_list.value, dtype= np.float32))
+            pass
+        corr2d=            np.array(corr2d_list)
+        target_disparity = np.array(target_disparity_list)
+        gt_ds =            np.array(gt_ds_list)
+        try:
+            os.makedirs(os.path.dirname(file_corr2d))
+        except:
+            pass     
+
+        np.save(file_corr2d,           corr2d)
+        np.save(file_target_disparity, target_disparity)
+        np.save(file_gt_ds,            gt_ds)
+        
+    return corr2d, target_disparity, gt_ds   
+
+#from http://warmspringwinds.github.io/tensorflow/tf-slim/2016/12/21/tfrecords-guide/
+def read_and_decode(filename_queue):
+    reader = tf.TFRecordReader()
+    _, serialized_example = reader.read(filename_queue)
+
+    features = tf.parse_single_example(
+      serialized_example,
+      # Defaults are not specified since both keys are required.
+      features={
+        'corr2d':           tf.FixedLenFeature([FEATURES_PER_TILE],tf.float32), #string),
+        'target_disparity': tf.FixedLenFeature([1],   tf.float32), #.string),
+        'gt_ds':            tf.FixedLenFeature([2],  tf.float32)  #.string)
+        })
+    corr2d =           features['corr2d'] # tf.decode_raw(features['corr2d'], tf.float32)
+    target_disparity = features['target_disparity'] # tf.decode_raw(features['target_disparity'], tf.float32)
+    gt_ds =            tf.cast(features['gt_ds'], tf.float32) # tf.decode_raw(features['gt_ds'], tf.float32)
+    in_features = tf.concat([corr2d,target_disparity],0)
+    # still some nan-s in correlation data?
+#    in_features_clean = tf.where(tf.is_nan(in_features), tf.zeros_like(in_features), in_features)     
+#    corr2d_out, target_disparity_out, gt_ds_out = tf.train.shuffle_batch( [in_features_clean, target_disparity, gt_ds],
+    corr2d_out, target_disparity_out, gt_ds_out = tf.train.shuffle_batch( [in_features, target_disparity, gt_ds],
+                                                 batch_size=1000, # 2,
+                                                 capacity=30,
+                                                 num_threads=2,
+                                                 min_after_dequeue=10)
+    return corr2d_out, target_disparity_out, gt_ds_out
+#http://adventuresinmachinelearning.com/introduction-tensorflow-queuing/
+def add_margins(npa,radius, val = np.nan):
+    npa_ext = np.empty((npa.shape[0]+2*radius, npa.shape[1]+2*radius, npa.shape[2]), dtype = npa.dtype)
+    npa_ext[radius:radius + npa.shape[0],radius:radius + npa.shape[1]] = npa
+    npa_ext[0:radius,:,:] = val  
+    npa_ext[radius + npa.shape[0]:,:,:] = val  
+    npa_ext[:,0:radius,:] = val  
+    npa_ext[:, radius + npa.shape[1]:,:] = val
+    return npa_ext   
+
+def add_neibs(npa_ext,radius):
+    height = npa_ext.shape[0]-2*radius
+    width =  npa_ext.shape[1]-2*radius
+    side = 2 * radius + 1
+    size = side * side
+    npa_neib = np.empty((height,  width, side, side, npa_ext.shape[2]), dtype = npa_ext.dtype)
+    for dy in range (side):
+        for dx in range (side):
+            npa_neib[:,:,dy, dx,:]= npa_ext[dy:dy+height, dx:dx+width]
+    return npa_neib.reshape(height, width, -1)    
+    
+def extend_img_to_clusters(datasets_img,radius):
+    side = 2 * radius + 1
+    size = side * side
+    width =  324
+    if len(datasets_img) ==0:
+        return
+    num_tiles = datasets_img[0]['corr2d'].shape[0]
+    height = num_tiles // width 
+    for rec in datasets_img:
+        rec['corr2d'] =           add_neibs(add_margins(rec['corr2d'].reshape((height,width,-1)), radius, np.nan), radius).reshape((num_tiles,-1)) 
+        rec['target_disparity'] = add_neibs(add_margins(rec['target_disparity'].reshape((height,width,-1)), radius, np.nan), radius).reshape((num_tiles,-1)) 
+        rec['gt_ds'] =            add_neibs(add_margins(rec['gt_ds'].reshape((height,width,-1)), radius, np.nan), radius).reshape((num_tiles,-1))
+        pass
+
+
+
+def reformat_to_clusters(datasets_data):
+    cluster_size = (2 * CLUSTER_RADIUS + 1) * (2 * CLUSTER_RADIUS + 1)
+# Reformat input data
+    for rec in datasets_data:
+        rec['corr2d'] =           rec['corr2d'].reshape(          (rec['corr2d'].shape[0]//cluster_size,           rec['corr2d'].shape[1] * cluster_size)) 
+        rec['target_disparity'] = rec['target_disparity'].reshape((rec['target_disparity'].shape[0]//cluster_size, rec['target_disparity'].shape[1] * cluster_size)) 
+        rec['gt_ds'] =            rec['gt_ds'].reshape(           (rec['gt_ds'].shape[0]//cluster_size,            rec['gt_ds'].shape[1] * cluster_size))
+
+def replace_nan(datasets_data):
+    cluster_size = (2 * CLUSTER_RADIUS + 1) * (2 * CLUSTER_RADIUS + 1)
+# Reformat input data
+    for rec in datasets_data:
+        np.nan_to_num(rec['corr2d'], copy = False) 
+        np.nan_to_num(rec['target_disparity'], copy = False) 
+        np.nan_to_num(rec['gt_ds'], copy = False)
+
+
+
+def zip_lvar_hvar(datasets_lvar_data, datasets_hvar_data, del_src = True):
+#    cluster_size = (2 * CLUSTER_RADIUS + 1) * (2 * CLUSTER_RADIUS + 1)
+# Reformat input data
+
+    datasets_data = []
+#    for rec1, rec2 in zip(datasets_lvar_data, datasets_hvar_data):
+    for nrec in range(len(datasets_lvar_data)):
+        rec1 = datasets_lvar_data[nrec]
+        rec2 = datasets_hvar_data[nrec]
+        
+        rec = {'corr2d':           np.empty((rec1['corr2d'].shape[0]*2,rec1['corr2d'].shape[1]),dtype=np.float32),
+               'target_disparity': np.empty((rec1['target_disparity'].shape[0]*2,rec1['target_disparity'].shape[1]),dtype=np.float32),
+               'gt_ds':            np.empty((rec1['gt_ds'].shape[0]*2,rec1['gt_ds'].shape[1]),dtype=np.float32)}
+
+        rec['corr2d'][0::2] =           rec1['corr2d'] 
+        rec['corr2d'][1::2] =           rec2['corr2d'] 
+        
+        rec['target_disparity'][0::2] = rec1['target_disparity'] 
+        rec['target_disparity'][1::2] = rec2['target_disparity'] 
+
+        rec['gt_ds'][0::2] =            rec1['gt_ds'] 
+        rec['gt_ds'][1::2] =            rec2['gt_ds']
+#        if del_src:
+#            rec1['corr2d'] = None
+#            rec1['target_disparity'] = None
+#            rec1['gt_ds'] = None
+#            rec2['corr2d'] = None
+#            rec2['target_disparity'] = None
+#            rec2['gt_ds'] = None
+        if del_src:
+            datasets_lvar_data[nrec] = None
+            datasets_hvar_data[nrec] = None
+        datasets_data.append(rec)
+    return datasets_data    
+         
+
+# list of dictionaries  
+def reduce_tile_size(datasets_data, num_tile_layers, reduced_tile_side):
+    if (not datasets_data is None) and (len (datasets_data) > 0): 
+        tsz = (datasets_data[0]['corr2d'].shape[1])// num_tile_layers # 81 # list index out of range
+        tss = int(np.sqrt(tsz)+0.5)
+        offs = (tss - reduced_tile_side) // 2
+        for rec in datasets_data:
+            rec['corr2d'] =  (rec['corr2d'].reshape((-1, num_tile_layers,  tss, tss))
+                                 [..., offs:offs+reduced_tile_side, offs:offs+reduced_tile_side].
+                                 reshape(-1,num_tile_layers*reduced_tile_side*reduced_tile_side))
+
+def eval_results(rslt_path, absolute,
+                 min_disp =    -0.1, #minimal GT disparity
+                 max_disp =    20.0, # maximal GT disparity
+                 max_ofst_target = 1.0,
+                 max_ofst_result = 1.0,
+                 str_pow =      2.0):
+#    for min_disparity, max_disparity, max_offset_target, max_offset_result, strength_pow in [
+    variants = [[         -0.1,         5.0,              0.5,            0.5,          1.0],           
+                [         -0.1,         5.0,              0.5,            0.5,          2.0],
+                [         -0.1,         5.0,              0.2,            0.2,          1.0],
+                [         -0.1,         5.0,              0.2,            0.2,          2.0],
+                [         -0.1,        20.0,              0.5,            0.5,          1.0],           
+                [         -0.1,        20.0,              0.5,            0.5,          2.0],
+                [         -0.1,        20.0,              0.2,            0.2,          1.0],
+                [         -0.1,        20.0,              0.2,            0.2,          2.0],
+                [         -0.1,        20.0,              1.0,            1.0,          1.0],
+                [min_disp, max_disp, max_ofst_target, max_ofst_result, str_pow]]
+    
+
+    rslt = np.load(result_file)
+    not_nan  =  ~np.isnan(rslt[...,0])
+    not_nan &=  ~np.isnan(rslt[...,1])
+    not_nan &=  ~np.isnan(rslt[...,2])
+    not_nan &=  ~np.isnan(rslt[...,3])
+    if  not absolute:
+        rslt[...,0] +=  rslt[...,1]
+    nn_disparity =     np.nan_to_num(rslt[...,0], copy = False)
+    target_disparity = np.nan_to_num(rslt[...,1], copy = False)
+    gt_disparity =     np.nan_to_num(rslt[...,2], copy = False)
+    gt_strength =      np.nan_to_num(rslt[...,3], copy = False)
+    for min_disparity, max_disparity, max_offset_target, max_offset_result, strength_pow in variants:
+        good_tiles = not_nan.copy();
+        good_tiles &= (gt_disparity >= min_disparity)
+        good_tiles &= (gt_disparity <= max_disparity)
+        good_tiles &= (target_disparity != gt_disparity)
+        good_tiles &= (np.abs(target_disparity - gt_disparity) <= max_offset_target)
+        good_tiles &= (np.abs(target_disparity - nn_disparity) <= max_offset_result)
+        gt_w =  gt_strength * good_tiles
+        gt_w = np.power(gt_w,strength_pow)
+        sw = gt_w.sum() 
+        diff0 = target_disparity - gt_disparity
+        diff1 = nn_disparity -     gt_disparity
+        diff0_2w = gt_w*diff0*diff0
+        diff1_2w = gt_w*diff1*diff1
+        rms0 = np.sqrt(diff0_2w.sum()/sw) 
+        rms1 = np.sqrt(diff1_2w.sum()/sw)
+        print ("%7.3f<disp<%7.3f, offs_tgt<%5.2f, offs_rslt<%5.2f pwr=%05.3f, rms0=%7.4f, rms1=%7.4f (gain=%7.4f) num good tiles = %5d"%(
+            min_disparity, max_disparity, max_offset_target,  max_offset_result, strength_pow, rms0, rms1, rms0/rms1, good_tiles.sum() ))
+    return rms0, rms1 
+    
+                         
+
+"""
+Start of the main code
+"""
+"""
+try:
+    train_filenameTFR =  sys.argv[1]
+except IndexError:
+    train_filenameTFR = "/mnt/dde6f983-d149-435e-b4a2-88749245cc6c/home/eyesis/x3d_data/data_sets/tf_data/train_00.tfrecords"
+try:
+    test_filenameTFR =  sys.argv[2]
+except IndexError:
+    test_filenameTFR = "/mnt/dde6f983-d149-435e-b4a2-88749245cc6c/home/eyesis/x3d_data/data_sets/tf_data/test.tfrecords"
+#FILES_PER_SCENE
+train_filenameTFR1 = "/mnt/dde6f983-d149-435e-b4a2-88749245cc6c/home/eyesis/x3d_data/data_sets/tf_data/train_01.tfrecords"
+"""
+files_img =        ['/home/eyesis/x3d_data/data_sets/tf_data_3x3b/img/1527257933_150165-v04.tfrecords']
+result_file =       '/home/eyesis/x3d_data/data_sets/tf_data_3x3b/rslt/1527257933_150165-v04R.npy'
+
+files_train_lvar = ["/home/eyesis/x3d_data/data_sets/tf_data_rand2/train000_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train001_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train002_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train003_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train004_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train005_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train006_R1_LE_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train007_R1_LE_1.5.tfrecords",
+                    ]
+files_train_hvar = ["/home/eyesis/x3d_data/data_sets/tf_data_rand2/train000_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train001_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train002_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train003_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train004_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train005_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train006_R1_GT_1.5.tfrecords",
+                    "/home/eyesis/x3d_data/data_sets/tf_data_rand2/train007_R1_GT_1.5.tfrecords",
+]
+#files_train_hvar = []
+#file_test_lvar=     "/home/eyesis/x3d_data/data_sets/tf_data_3x3a/train000_R1_LE_1.5.tfrecords" # "/home/eyesis/x3d_data/data_sets/train-000_R1_LE_1.5.tfrecords"
+file_test_lvar=     "/home/eyesis/x3d_data/data_sets/tf_data_rand2/testTEST_R1_LE_1.5.tfrecords"
+file_test_hvar=     "/home/eyesis/x3d_data/data_sets/tf_data_rand2/testTEST_R1_GT_1.5.tfrecords" # None # "/home/eyesis/x3d_data/data_sets/tf_data_3x3/train-002_R1_LE_1.5.tfrecords" # "/home/eyesis/x3d_data/data_sets/train-000_R1_LE_1.5.tfrecords"
+#file_test_hvar=  None
+weight_hvar = 0.13
+weight_lvar = 1.0 - weight_hvar 
+
+
+import tensorflow as tf
+import tensorflow.contrib.slim as slim
+
+
+#try:
+eval_results(result_file, ABSOLUTE_DISPARITY)
+exit(0)
+#except:
+#    pass
+
+datasets_img = []
+for fpath in files_img:
+    print_time("Importing test image data from "+fpath, end="")
+    corr2d, target_disparity, gt_ds = readTFRewcordsEpoch(fpath)
+    datasets_img.append(       {"corr2d":corr2d,
+                                "target_disparity":target_disparity,
+                                "gt_ds":gt_ds})
+    print_time("  Done")
+gtruth =   datasets_img[0]['gt_ds'].copy()
+t_disp =   datasets_img[0]['target_disparity'].reshape([-1,1]).copy()
+extend_img_to_clusters(datasets_img, radius = CLUSTER_RADIUS)
+#reformat_to_clusters(datasets_img) already this format   
+replace_nan(datasets_img)
+pass
+pass
+
+
+datasets_train_lvar = []
+for fpath in files_train_lvar:
+    print_time("Importing train data (low variance) from "+fpath, end="")
+    corr2d, target_disparity, gt_ds = readTFRewcordsEpoch(fpath)
+    datasets_train_lvar.append({"corr2d":corr2d,
+                                "target_disparity":target_disparity,
+                                "gt_ds":gt_ds})
+    print_time("  Done")
+datasets_train_hvar = []
+for fpath in files_train_hvar:
+    print_time("Importing train data (high variance) from "+fpath, end="")
+    corr2d, target_disparity, gt_ds = readTFRewcordsEpoch(fpath)
+    datasets_train_hvar.append({"corr2d":corr2d,
+                                "target_disparity":target_disparity,
+                                "gt_ds":gt_ds})
+    print_time("  Done")
+if (file_test_lvar):
+    print_time("Importing test data (low variance) from "+fpath, end="")
+    corr2d, target_disparity, gt_ds = readTFRewcordsEpoch(file_test_lvar)
+    dataset_test_lvar = {"corr2d":corr2d,
+                           "target_disparity":target_disparity,
+                           "gt_ds":gt_ds}
+    print_time("  Done")
+if (file_test_hvar):
+    print_time("Importing test data (high variance) from "+fpath, end="")
+    corr2d, target_disparity, gt_ds = readTFRewcordsEpoch(file_test_hvar)
+    dataset_test_hvar = {"corr2d":corr2d,
+                           "target_disparity":target_disparity,
+                           "gt_ds":gt_ds}
+    print_time("  Done")
+#CLUSTER_RADIUS
+cluster_size = (2 * CLUSTER_RADIUS + 1) * (2 * CLUSTER_RADIUS + 1)
+center_tile_index = 2 * CLUSTER_RADIUS * (CLUSTER_RADIUS + 1)
+# Reformat input data
+if FILE_TILE_SIDE > TILE_SIDE:
+    print_time("Reducing correlation tile size from %d to %d"%(FILE_TILE_SIDE, TILE_SIDE), end="")
+    reduce_tile_size(datasets_train_lvar, TILE_LAYERS, TILE_SIDE)
+    reduce_tile_size(datasets_train_hvar, TILE_LAYERS, TILE_SIDE)
+    if (file_test_lvar):
+        reduce_tile_size([dataset_test_lvar], TILE_LAYERS, TILE_SIDE)
+    if (file_test_hvar):
+        reduce_tile_size([dataset_test_hvar], TILE_LAYERS, TILE_SIDE)
+    print_time("  Done")
+pass
+pass
+print_time("Reshaping train data (low variance)", end="")
+reformat_to_clusters(datasets_train_lvar)
+print_time("  Done")
+print_time("Reshaping train data (high variance)", end="")
+reformat_to_clusters(datasets_train_hvar)
+print_time("  Done")
+if (file_test_lvar):
+    print_time("Reshaping test data (low variance)", end="")
+    reformat_to_clusters([dataset_test_lvar])
+    print_time("  Done")
+if (file_test_hvar):    
+    print_time("Reshaping test data (high variance)", end="")
+    reformat_to_clusters([dataset_test_hvar])
+    print_time("  Done")
+pass    
+
+"""
+datasets_train_lvar & datasets_train_hvar ( that will increase batch size and placeholders twice
+test has to have even original, batches will not zip - just use two batches for one big one
+"""
+
+
+
+
+if ZIP_LHVAR:
+    datasets_train = zip_lvar_hvar(datasets_train_lvar, datasets_train_hvar)
+    pass
+else:
+    #Alternate lvar/hvar
+    datasets_train = []
+    datasets_weights_train = []
+    for indx in range(max(len(datasets_train_lvar),len(datasets_train_hvar))):
+        if (indx < len(datasets_train_lvar)):
+            datasets_train.append(datasets_train_lvar[indx])
+            datasets_weights_train.append(weight_lvar)
+        if (indx < len(datasets_train_hvar)):
+            datasets_train.append(datasets_train_hvar[indx])
+            datasets_weights_train.append(weight_hvar)
+
+datasets_test = []
+datasets_weights_test = []
+if (file_test_lvar):
+    datasets_test.append(dataset_test_lvar)
+    datasets_weights_test.append(weight_lvar)
+if (file_test_hvar):
+    datasets_test.append(dataset_test_hvar)
+    datasets_weights_test.append(weight_hvar)
+
+    
+corr2d_train_placeholder =           tf.placeholder(datasets_train[0]['corr2d'].dtype,           (None,FEATURES_PER_TILE * cluster_size)) # corr2d_train.shape)
+target_disparity_train_placeholder = tf.placeholder(datasets_train[0]['target_disparity'].dtype, (None,1 *   cluster_size))  #target_disparity_train.shape)
+gt_ds_train_placeholder =            tf.placeholder(datasets_train[0]['gt_ds'].dtype,            (None,2 *   cluster_size)) #gt_ds_train.shape)
+
+dataset_tt = tf.data.Dataset.from_tensor_slices({
+    "corr2d":corr2d_train_placeholder,
+    "target_disparity": target_disparity_train_placeholder,
+    "gt_ds": gt_ds_train_placeholder})
+
+
+#dataset_train_size = len(corr2d_train)
+
+#dataset_train_size = len(datasets_train_lvar[0]['corr2d'])
+dataset_train_size = len(datasets_train[0]['corr2d'])
+dataset_train_size //= BATCH_SIZE
+dataset_test_size = len(dataset_test_lvar['corr2d'])
+dataset_test_size //= BATCH_SIZE
+dataset_img_size = len(datasets_img[0]['corr2d'])
+dataset_img_size //= BATCH_SIZE
+
+#print_time("dataset_tt.output_types "+str(dataset_train.output_types)+", dataset_train.output_shapes "+str(dataset_train.output_shapes)+", number of elements="+str(dataset_train_size))
+dataset_tt = dataset_tt.batch(BATCH_SIZE)
+#dataset_tt = dataset_tt.prefetch(BATCH_SIZE)
+iterator_tt = dataset_tt.make_initializable_iterator()
+next_element_tt = iterator_tt.get_next()
+#print("dataset_tt.output_types "+str(dataset_tt.output_types)+", dataset_tt.output_shapes "+str(dataset_tt.output_shapes)+", number of elements="+str(dataset_train_size))
+
+
+"""
+iterator_test =  dataset_test.make_initializable_iterator()
+next_element_test =  iterator_test.get_next()
+"""
+#https://www.tensorflow.org/versions/r1.5/programmers_guide/datasets
+
+result_dir = './attic/result_neibs_'+     SUFFIX+'/'
+checkpoint_dir = './attic/result_neibs_'+ SUFFIX+'/'
+save_freq = 500
+
+def lrelu(x):
+    return tf.maximum(x*0.2,x)
+#    return tf.nn.relu(x)
+
+
+def network_sub(input, layout, reuse):
+    last_indx = None;
+    fc = []
+    for i, num_outs in enumerate (layout):
+        if num_outs:
+           if fc:
+               inp = fc[-1]
+           else:
+               inp = input
+           fc.append(slim.fully_connected(inp,    num_outs, activation_fn=lrelu, scope='g_fc_sub'+str(i), reuse = reuse))
+    return fc[-1]
+
+def network_inter(input, layout):
+    last_indx = None;
+    fc = []
+    for i, num_outs in enumerate (layout):
+        if num_outs:
+           if fc:
+               inp = fc[-1]
+           else:
+               inp = input
+           fc.append(slim.fully_connected(inp,    num_outs, activation_fn=lrelu, scope='g_fc_inter'+str(i)))
+    if USE_CONFIDENCE:
+        fc_out  = slim.fully_connected(fc[-1],     2, activation_fn=lrelu,scope='g_fc_inter_out')
+    else:     
+        fc_out  = slim.fully_connected(fc[-1],     1, activation_fn=None,scope='g_fc_inter_out')
+        #If using residual disparity, split last layer into 2 or remove activation and add rectifier to confidence only  
+    return fc_out
+
+def network_siam(input, # now [?:9,325]
+                 layout1, 
+                 layout2,
+                 only_tile=None): # just for debugging - feed only data from the center sub-network
+    with tf.name_scope("Siam_net"):
+        num_legs =  input.shape[1] # == 9
+        inter_list = []
+        reuse = False
+        for i in range (num_legs):
+            if (only_tile is None) or (i == only_tile):
+                inter_list.append(network_sub(input[:,i,:],
+                                          layout= layout1,
+                                          reuse= reuse))
+                reuse = True
+        inter_tensor = tf.concat(inter_list, 1, name='inter_tensor')
+        return  network_inter (inter_tensor, layout2)   
+#corr2d9x325 = tf.concat([tf.reshape(next_element_tt['corr2d'],[None,cluster_size,FEATURES_PER_TILE]) , tf.reshape(next_element_tt['target_disparity'], [None,cluster_size, 1])],2)
+
+def debug_gt_variance(
+        indx,        # This tile index (0..8)
+        center_indx, # center tile index
+        gt_ds_batch # [?:9:2]
+        ):
+    with tf.name_scope("Debug_GT_Variance"):
+        tf_num_tiles =       tf.shape(gt_ds_batch)[0]
+        d_gt_this =   tf.reshape(gt_ds_batch[:,2 * indx],[-1],                     name = "d_this")
+        d_gt_center = tf.reshape(gt_ds_batch[:,2 * center_indx],[-1],              name = "d_center")
+        d_gt_diff =   tf.subtract(d_gt_this, d_gt_center,                          name = "d_diff")
+        d_gt_diff2 =  tf.multiply(d_gt_diff, d_gt_diff,                            name = "d_diff2")
+        d_gt_var =    tf.reduce_mean(d_gt_diff2,                                   name = "d_gt_var")
+        return  d_gt_var
+    
+    
+def batchLoss(out_batch,                   # [batch_size,(1..2)] tf_result
+              target_disparity_batch,      # [batch_size]        tf placeholder
+              gt_ds_batch,                 # [batch_size,2]      tf placeholder
+              absolute_disparity =     True, #when false there should be no activation on disparity output ! 
+              use_confidence =         True, 
+              lambda_conf_avg =        0.01,
+              lambda_conf_pwr =        0.1,
+              conf_pwr =               2.0,
+              gt_conf_offset =         0.08,
+              gt_conf_pwr =            1.0,
+              error2_offset =          0.0025, # (0.05^2)
+              disp_wmin =              1.0,    # minimal disparity to apply weight boosting for small disparities
+              disp_wmax =              8.0,    # maximal disparity to apply weight boosting for small disparities
+              use_out =                False):  # use calculated disparity for disparity weight boosting (False - use target disparity)
+               
+    with tf.name_scope("BatchLoss"):
+        """
+        Here confidence should be after relU. Disparity - may be also if absolute, but no activation if output is residual disparity
+        """
+        tf_lambda_conf_avg = tf.constant(lambda_conf_avg, dtype=tf.float32, name="tf_lambda_conf_avg")
+        tf_lambda_conf_pwr = tf.constant(lambda_conf_pwr, dtype=tf.float32, name="tf_lambda_conf_pwr")
+        tf_conf_pwr =        tf.constant(conf_pwr,        dtype=tf.float32, name="tf_conf_pwr")
+        tf_gt_conf_offset =  tf.constant(gt_conf_offset,  dtype=tf.float32, name="tf_gt_conf_offset")
+        tf_gt_conf_pwr =     tf.constant(gt_conf_pwr,     dtype=tf.float32, name="tf_gt_conf_pwr")
+        tf_num_tiles =       tf.shape(gt_ds_batch)[0]
+        tf_0f =              tf.constant(0.0,             dtype=tf.float32, name="tf_0f")
+        tf_1f =              tf.constant(1.0,             dtype=tf.float32, name="tf_1f")
+        tf_maxw =            tf.constant(1.0,             dtype=tf.float32, name="tf_maxw")
+        if gt_conf_pwr == 0:
+            w = tf.ones((out_batch.shape[0]), dtype=tf.float32,name="w_ones")
+        else:
+    #        w_slice = tf.slice(gt_ds_batch,[0,1],[-1,1],              name = "w_gt_slice")
+            w_slice = tf.reshape(gt_ds_batch[:,1],[-1],                     name = "w_gt_slice")
+            
+            w_sub =   tf.subtract      (w_slice, tf_gt_conf_offset,         name = "w_sub")
+    #        w_clip =  tf.clip_by_value(w_sub, tf_0f,tf_maxw,              name = "w_clip")
+            w_clip =  tf.maximum(w_sub, tf_0f,                              name = "w_clip")
+            if gt_conf_pwr == 1.0:
+                w = w_clip
+            else:
+                w=tf.pow(w_clip, tf_gt_conf_pwr, name = "w_pow")
+    
+        if use_confidence:
+            tf_num_tilesf =      tf.cast(tf_num_tiles, dtype=tf.float32,     name="tf_num_tilesf")
+    #        conf_slice =     tf.slice(out_batch,[0,1],[-1,1],                name = "conf_slice")
+            conf_slice =     tf.reshape(out_batch[:,1],[-1],                 name = "conf_slice")
+            conf_sum =       tf.reduce_sum(conf_slice,                       name = "conf_sum")
+            conf_avg =       tf.divide(conf_sum, tf_num_tilesf,              name = "conf_avg")
+            conf_avg1 =      tf.subtract(conf_avg, tf_1f,                    name = "conf_avg1")
+            conf_avg2 =      tf.square(conf_avg1,                            name = "conf_avg2")
+            cost2 =          tf.multiply (conf_avg2, tf_lambda_conf_avg,     name = "cost2")
+    
+            iconf_avg =      tf.divide(tf_1f, conf_avg,                      name = "iconf_avg")
+            nconf =          tf.multiply (conf_slice, iconf_avg,             name = "nconf") #normalized confidence
+            nconf_pwr =      tf.pow(nconf, conf_pwr,                         name = "nconf_pwr")
+            nconf_pwr_sum =  tf.reduce_sum(nconf_pwr,                        name = "nconf_pwr_sum")
+            nconf_pwr_offs = tf.subtract(nconf_pwr_sum, tf_1f,               name = "nconf_pwr_offs")
+            cost3 =          tf.multiply (conf_avg2, nconf_pwr_offs,         name = "cost3")
+            w_all =          tf.multiply (w, nconf,                          name = "w_all")
+        else:
+            w_all = w
+#            cost2 = 0.0
+#            cost3 = 0.0    
+        # normalize weights
+        w_sum =              tf.reduce_sum(w_all,                            name = "w_sum")
+        iw_sum =             tf.divide(tf_1f, w_sum,                         name = "iw_sum")
+        w_norm =             tf.multiply (w_all, iw_sum,                     name = "w_norm")
+        
+        disp_slice =         tf.reshape(out_batch[:,0],[-1],                 name = "disp_slice")
+        d_gt_slice =         tf.reshape(gt_ds_batch[:,0],[-1],               name = "d_gt_slice")
+        
+        td_flat =        tf.reshape(target_disparity_batch,[-1],         name = "td_flat")
+        if absolute_disparity:
+            adisp =          disp_slice
+        else:
+            adisp =          tf.add(disp_slice, td_flat,                     name = "adisp")
+        out_diff =           tf.subtract(adisp, d_gt_slice,                  name = "out_diff")
+            
+            
+        out_diff2 =          tf.square(out_diff,                             name = "out_diff2")
+        out_wdiff2 =         tf.multiply (out_diff2, w_norm,                 name = "out_wdiff2")
+        
+        cost1 =              tf.reduce_sum(out_wdiff2,                       name = "cost1")
+        
+        out_diff2_offset =   tf.subtract(out_diff2, error2_offset,           name = "out_diff2_offset")
+        out_diff2_biased =   tf.maximum(out_diff2_offset, 0.0,               name = "out_diff2_biased")
+        
+        # calculate disparity-based weight boost
+        if use_out:
+            dispw =          tf.clip_by_value(adisp, disp_wmin, disp_wmax,   name = "dispw")
+        else:
+            dispw =          tf.clip_by_value(td_flat, disp_wmin, disp_wmax, name = "dispw")
+        dispw_boost =        tf.divide(disp_wmax, dispw,                     name = "dispw_boost")
+        dispw_comp =         tf.multiply (dispw_boost, w_norm,               name = "dispw_comp") #HERE??
+#        dispw_comp =         tf.multiply (w_norm, w_norm,               name = "dispw_comp") #HERE??
+        dispw_sum =          tf.reduce_sum(dispw_comp,                       name = "dispw_sum")
+        idispw_sum =         tf.divide(tf_1f, dispw_sum,                     name = "idispw_sum")
+        dispw_norm =         tf.multiply (dispw_comp, idispw_sum,            name = "dispw_norm")
+        
+        out_diff2_wbiased =  tf.multiply(out_diff2_biased, dispw_norm,       name = "out_diff2_wbiased")
+#        out_diff2_wbiased =  tf.multiply(out_diff2_biased, w_norm,       name = "out_diff2_wbiased")
+        cost1b =             tf.reduce_sum(out_diff2_wbiased,                name = "cost1b")
+        
+        if use_confidence:
+            cost12 =         tf.add(cost1b, cost2,                           name = "cost12")
+            cost123 =        tf.add(cost12, cost3,                           name = "cost123")    
+            
+            return cost123, disp_slice, d_gt_slice, out_diff,out_diff2, w_norm, out_wdiff2, cost1
+        else:
+            return cost1b,  disp_slice, d_gt_slice, out_diff,out_diff2, w_norm, out_wdiff2, cost1
+    
+#In GPU - reformat inputs
+
+##corr2d325 = tf.concat([next_element_tt['corr2d'], next_element_tt['target_disparity']],1)
+
+#Should have shape (?,9,325)
+corr2d9x325 = tf.concat([tf.reshape(next_element_tt['corr2d'],[-1,cluster_size,FEATURES_PER_TILE]) , tf.reshape(next_element_tt['target_disparity'], [-1,cluster_size, 1])],2)
+
+#corr2d9x324 = tf.reshape( next_element_tt['corr2d'],          [-1, cluster_size, FEATURES_PER_TILE], name = 'corr2d9x324')
+#td9x1 =       tf.reshape(next_element_tt['target_disparity'], [-1, cluster_size, 1],    name = 'td9x1')
+#corr2d9x325 = tf.concat([corr2d9x324 , td9x1],2, name = 'corr2d9x325')
+
+
+#    in_features = tf.concat([corr2d,target_disparity],0)
+
+#out =       network_fc_simple(input=corr2d325, arch = NET_ARCH1)
+out =       network_siam(input=corr2d9x325,
+                         layout1 =   NN_LAYOUT1, 
+                         layout2 =   NN_LAYOUT2,
+                         only_tile = ONLY_TILE) #Remove/put None for normal operation
+#            w_slice = tf.reshape(gt_ds_batch[:,1],[-1],                     name = "w_gt_slice")
+
+# Extract target disparity and GT corresponding to the center tile (reshape - just to name)
+#target_disparity_batch_center = tf.reshape(next_element_tt['target_disparity'][:,center_tile_index:center_tile_index+1] , [-1,1],  name = "target_center")
+#gt_ds_batch_center =            tf.reshape(next_element_tt['gt_ds'][:,2 * center_tile_index: 2 * center_tile_index+1],    [-1,2],  name = "gt_ds_center")
+
+G_loss, _disp_slice, _d_gt_slice, _out_diff, _out_diff2, _w_norm, _out_wdiff2, _cost1 = batchLoss(out_batch =         out,        # [batch_size,(1..2)] tf_result
+              target_disparity_batch=  next_element_tt['target_disparity'][:,center_tile_index:center_tile_index+1], # target_disparity_batch_center, # next_element_tt['target_disparity'], # target_disparity, ### target_d,   # [batch_size]        tf placeholder
+              gt_ds_batch =            next_element_tt['gt_ds'][:,2 * center_tile_index: 2 * (center_tile_index +1)],  # gt_ds_batch_center, ## next_element_tt['gt_ds'], # gt_ds, ### gt,         # [batch_size,2]      tf placeholder
+              absolute_disparity =     ABSOLUTE_DISPARITY,
+              use_confidence =         USE_CONFIDENCE, # True, 
+              lambda_conf_avg =        0.01,
+              lambda_conf_pwr =        0.1,
+              conf_pwr =               2.0,
+              gt_conf_offset =         0.08,
+              gt_conf_pwr =            2.0,
+              error2_offset =          0.0025, # (0.05^2)
+              disp_wmin =              1.0,    # minimal disparity to apply weight boosting for small disparities
+              disp_wmax =              8.0,    # maximal disparity to apply weight boosting for small disparities
+              use_out =                False)  # use calculated disparity for disparity weight boosting (False - use target disparity)
+              
+#debug
+GT_variance =  debug_gt_variance(indx = 0,        # This tile index (0..8)
+                                 center_indx = 4, # center tile index
+                                 gt_ds_batch = next_element_tt['gt_ds'])# [?:18]
+              
+tf_ph_G_loss = tf.placeholder(tf.float32,shape=None,name='G_loss_avg')
+tf_ph_sq_diff = tf.placeholder(tf.float32,shape=None,name='sq_diff_avg')
+tf_gtvar_diff = tf.placeholder(tf.float32,shape=None,name='gtvar_diff')
+with tf.name_scope('sample'):
+    tf.summary.scalar("G_loss",       G_loss)
+    tf.summary.scalar("sq_diff",      _cost1)
+    tf.summary.scalar("gtvar_diff",   GT_variance)
+    
+with tf.name_scope('epoch_average'):
+    tf.summary.scalar("G_loss_epoch", tf_ph_G_loss)
+    tf.summary.scalar("sq_diff_epoch",tf_ph_sq_diff)
+    tf.summary.scalar("gtvar_diff",   tf_gtvar_diff)
+
+t_vars=tf.trainable_variables()
+lr=tf.placeholder(tf.float32)
+G_opt=tf.train.AdamOptimizer(learning_rate=lr).minimize(G_loss)
+
+saver=tf.train.Saver()
+
+ROOT_PATH  = './attic/nn_ds_neibs2_graph'+SUFFIX+"/"
+TRAIN_PATH =  ROOT_PATH + 'train'
+TEST_PATH  =  ROOT_PATH + 'test'
+TEST_PATH1  = ROOT_PATH + 'test1'
+
+# CLEAN OLD STAFF
+shutil.rmtree(TRAIN_PATH, ignore_errors=True)
+shutil.rmtree(TEST_PATH, ignore_errors=True)
+shutil.rmtree(TEST_PATH1, ignore_errors=True)
+
+WIDTH=324
+HEIGHT=242
+
+with tf.Session()  as sess:
+    
+    sess.run(tf.global_variables_initializer())
+    sess.run(tf.local_variables_initializer())
+    
+    merged = tf.summary.merge_all()
+    train_writer =    tf.summary.FileWriter(TRAIN_PATH, sess.graph)
+    test_writer  =    tf.summary.FileWriter(TEST_PATH, sess.graph)
+    test_writer1  =   tf.summary.FileWriter(TEST_PATH1, sess.graph)
+    loss_train_hist=  np.empty(dataset_train_size, dtype=np.float32)
+    loss_test_hist=   np.empty(dataset_test_size, dtype=np.float32)
+    loss2_train_hist= np.empty(dataset_train_size, dtype=np.float32)
+    loss2_test_hist=  np.empty(dataset_test_size, dtype=np.float32)
+    train_avg = 0.0     
+    train2_avg = 0.0
+    test_avg = 0.0     
+    test2_avg = 0.0
+    gtvar_train_hist=  np.empty(dataset_train_size, dtype=np.float32)
+    gtvar_test_hist=   np.empty(dataset_test_size, dtype=np.float32)
+    gtvar_train = 0.0
+    gtvar_test = 0.0
+    gtvar_train_avg = 0.0
+    gtvar_test_avg =  0.0
+    
+#    num_train_variants = len(files_train_lvar)
+    num_train_variants = len(datasets_train)
+    for epoch in range (EPOCHS_TO_RUN):
+#        file_index = (epoch // 20) % 2 
+        file_index = epoch  % num_train_variants
+        learning_rate = [LR,LR100][epoch >=100] 
+
+        sess.run(iterator_tt.initializer, feed_dict={corr2d_train_placeholder:           datasets_train[file_index]['corr2d'],
+                                                     target_disparity_train_placeholder: datasets_train[file_index]['target_disparity'],
+                                                     gt_ds_train_placeholder:            datasets_train[file_index]['gt_ds']})
+        
+#        disp_out=  np.empty((dataset_train_size * BATCH_SIZE), dtype=np.float32)
+        for i in range(dataset_train_size):
+            try:
+#                train_summary,_, G_loss_trained,  output, disp_slice, d_gt_slice, out_diff, out_diff2, w_norm, out_wdiff2, out_cost1, corr2d325_out  = sess.run(
+                train_summary,_, G_loss_trained,  output, disp_slice, d_gt_slice, out_diff, out_diff2, w_norm, out_wdiff2, out_cost1, gt_variance  = sess.run(
+                    [   merged,
+                        G_opt,
+                        G_loss,
+                        out,
+                        _disp_slice,
+                        _d_gt_slice,
+                        _out_diff,
+                        _out_diff2,
+                        _w_norm,
+                        _out_wdiff2,
+                        _cost1,
+                        GT_variance
+#                        corr2d325,
+                    ],
+                    feed_dict={lr:learning_rate,tf_ph_G_loss:train_avg, tf_ph_sq_diff:train2_avg, tf_gtvar_diff:gtvar_train_avg}) # previous value of *_avg
+                
+                # save all for now as a test
+                #train_writer.add_summary(summary, i)
+                #train_writer.add_summary(train_summary, i)
+#                disp_out[BATCH_SIZE*i:BATCH_SIZE*(i+1)] = output.flatten()
+                loss_train_hist[i] =  G_loss_trained
+                loss2_train_hist[i] = out_cost1
+                gtvar_train_hist[i] = gt_variance
+            except tf.errors.OutOfRangeError:
+                print("train done at step %d"%(i))
+                break
+        train_avg =       np.average(loss_train_hist).astype(np.float32)     
+        train2_avg =      np.average(loss2_train_hist).astype(np.float32)
+        gtvar_train_avg = np.average(gtvar_train_hist).astype(np.float32)
+        
+        test_summaries = [0.0]*len(datasets_test)
+        for ntest,dataset_test in enumerate(datasets_test):
+            sess.run(iterator_tt.initializer, feed_dict={corr2d_train_placeholder:      dataset_test['corr2d'],
+                                                    target_disparity_train_placeholder: dataset_test['target_disparity'],
+                                                    gt_ds_train_placeholder:            dataset_test['gt_ds']})
+            
+            for i in range(dataset_test_size):
+                try:
+#                    test_summary, G_loss_tested, output, disp_slice, d_gt_slice, out_diff, out_diff2, w_norm, out_wdiff2, out_cost1, gt_variance = sess.run(
+                    test_summaries[ntest], G_loss_tested, output, disp_slice, d_gt_slice, out_diff, out_diff2, w_norm, out_wdiff2, out_cost1, gt_variance = sess.run(
+                        [merged,
+                         G_loss,
+                         out,
+                         _disp_slice,
+                         _d_gt_slice,
+                         _out_diff,
+                         _out_diff2,
+                         _w_norm,
+                         _out_wdiff2,
+                         _cost1,
+                         GT_variance
+                         ],
+                            feed_dict={lr:learning_rate,tf_ph_G_loss:test_avg, tf_ph_sq_diff:test2_avg, tf_gtvar_diff:gtvar_test_avg})  # previous value of *_avg
+                    loss_test_hist[i] =  G_loss_tested
+                    loss2_test_hist[i] = out_cost1
+                    gtvar_test_hist[i] = gt_variance
+                except tf.errors.OutOfRangeError:
+                    print("test done at step %d"%(i))
+                    break
+                    
+                test_avg =  np.average(loss_test_hist).astype(np.float32)     
+                test2_avg = np.average(loss2_test_hist).astype(np.float32)
+                gtvar_test_avg = np.average(gtvar_test_hist).astype(np.float32)
+             
+#        _,_=sess.run([tf_ph_G_loss,tf_ph_sq_diff],feed_dict={tf_ph_G_loss:test_avg, tf_ph_sq_diff:test2_avg})
+        
+        train_writer.add_summary(train_summary, epoch)
+        test_writer.add_summary(test_summaries[0], epoch)
+        test_writer1.add_summary(test_summaries[1], epoch)
+        
+        print_time("%d:%d -> %f %f (%f %f) dbg:%f %f"%(epoch,i,train_avg, test_avg,train2_avg, test2_avg, gtvar_train_avg, gtvar_test_avg))
+
+###################################################
+# Read the full image
+################################################### 
+        
+    test_summaries_img = [0.0]*len(datasets_img)
+#    disp_out=  np.empty((dataset_img_size * BATCH_SIZE), dtype=np.float32)
+    disp_out=  np.empty((WIDTH*HEIGHT), dtype=np.float32)
+    
+    for ntest,dataset_img in enumerate(datasets_img):
+        sess.run(iterator_tt.initializer, feed_dict={corr2d_train_placeholder:      dataset_img['corr2d'],
+                                                target_disparity_train_placeholder: dataset_img['target_disparity'],
+                                                gt_ds_train_placeholder:            dataset_img['gt_ds']})
+        
+#        start_offs=0
+        for start_offs in range(0,disp_out.shape[0],BATCH_SIZE):
+            end_offs = min(start_offs+BATCH_SIZE,disp_out.shape[0])
+            
+            try:
+                test_summaries_img[ntest], G_loss_tested, output, disp_slice, d_gt_slice, out_diff, out_diff2, w_norm, out_wdiff2, out_cost1, gt_variance = sess.run(
+                    [merged,
+                     G_loss,
+                     out,
+                     _disp_slice,
+                     _d_gt_slice,
+                     _out_diff,
+                     _out_diff2,
+                     _w_norm,
+                     _out_wdiff2,
+                     _cost1,
+                     GT_variance
+                     ],
+                        feed_dict={lr:learning_rate,tf_ph_G_loss:test_avg, tf_ph_sq_diff:test2_avg, tf_gtvar_diff:gtvar_test_avg})  # previous value of *_avg
+#                loss_test_hist[i] =  G_loss_tested
+#                loss2_test_hist[i] = out_cost1
+#                gtvar_test_hist[i] = gt_variance
+            except tf.errors.OutOfRangeError:
+                print("test done at step %d"%(i))
+                break
+            try:
+#                disp_out[BATCH_SIZE*i:BATCH_SIZE*(i+1)] = output.flatten()
+                disp_out[start_offs:end_offs] = output.flatten()
+            except ValueError:
+                print("dataset_img_size= %d, i=%d, output.shape[0]=%d "%(dataset_img_size, i, output.shape[0]))
+                break;    
+            pass
+        try:
+            os.makedirs(os.path.dirname(result_file))
+        except:
+            pass     
+        
+        rslt = np.concatenate([disp_out.reshape(-1,1), t_disp, gtruth],1)
+        np.save(result_file,           rslt.reshape(HEIGHT,WIDTH,-1))
+        
+        eval_results(result_file, ABSOLUTE_DISPARITY)        
+
+     
+     # Close writers
+    train_writer.close()
+    test_writer.close()
+    test_writer1.close()
+#reports error: Exception ignored in: <bound method BaseSession.__del__ of <tensorflow.python.client.session.Session object at 0x7efc5f720ef0>> if there is no print before exit()
+
+print("All done")
+exit (0)