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436b829 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | from ppd.data.depth_estimation import Dataset as BaseDataset
from ppd.data.depth_estimation import *
import os
import json
from ppd.utils.logger import Log
class Dataset(BaseDataset):
def build_metas(self):
self.dataset_name = 'vkitti'
lines = open(self.cfg.split_path).readlines()
self.rgb_files = []
self.depth_files = []
for line in lines:
rgb_path, dpt_path = line.strip().split(' ')
self.rgb_files.append(os.path.join(self.cfg.data_root, rgb_path))
self.depth_files.append(os.path.join(self.cfg.data_root, dpt_path))
assert len(self.rgb_files) == len(self.depth_files)
def read_depth(self, index, depth=None):
depth = cv2.imread(self.depth_files[index], cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) / 100.0
min_val, max_val = 0.1, 80
tiankong_mask = depth > 200.
valid_mask = np.logical_and(
depth > min_val, ~np.isnan(depth)) & (~np.isinf(depth))
valid_mask = np.logical_and(valid_mask, depth < max_val)
if valid_mask.sum() == 0:
Log.warn('No valid mask in the depth map of {}'.format(
self.depth_files[index]))
if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0:
depth[np.isnan(depth)] = depth[valid_mask].max()
if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0:
depth[np.isinf(depth)] = depth[valid_mask].max()
depth = np.clip(depth, min_val, max_val)
depth[tiankong_mask] = depth.max() + 1.0
valid_mask = np.logical_or(valid_mask, tiankong_mask)
return depth, valid_mask.astype(np.uint8)
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