| 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 = 'tartanair' |
| lines = open(self.cfg.split_path).readlines() |
| self.rgb_files = [] |
| self.depth_files = [] |
| for line in lines: |
| rgb_path = line.strip() |
| full_rgb_path = os.path.join(self.cfg.data_root, rgb_path) |
| full_dpt_path = full_rgb_path.replace('image_left', 'depth_left').replace('left.png', 'left_depth.npy') |
| self.rgb_files.append(full_rgb_path) |
| self.depth_files.append(full_dpt_path) |
| assert len(self.rgb_files) == len(self.depth_files) |
|
|
| def read_depth(self, index, depth=None): |
| depth = np.load(self.depth_files[index]) |
| min_val, max_val = 0.1, 80 |
| tiankong_mask = depth > 200. |
| valid_mask = np.logical_and( |
| depth > 0.1, ~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) |
|
|
|
|
