critic_network.py 文件源码

def SoftArgmin(outputLeft, outputRight, D=192):

    left_result_D = outputLeft
    right_result_D = outputRight
    left_result_D_squeeze = tf.squeeze(left_result_D, axis=[0, 4])
    right_result_D_squeeze = tf.squeeze(right_result_D, axis=[0, 4])  # 192 256 512
    left_result_softmax = tf.nn.softmax(left_result_D_squeeze, dim=0)
    right_result_softmax = tf.nn.softmax(right_result_D_squeeze, dim=0)  # 192 256 512

    d_grid = tf.cast(tf.range(D), tf.float32)
    d_grid = tf.reshape(d_grid, (-1, 1, 1))
    d_grid = tf.tile(d_grid, [1, 256, 512])

    left_softargmin = tf.reduce_sum(tf.multiply(left_result_softmax, d_grid), axis=0, keep_dims=True)
    right_softargmin = tf.reduce_sum(tf.multiply(right_result_softmax, d_grid), axis=0, keep_dims=True)

    return left_softargmin, right_softargmin