code/RGBD/usplf_rgbd_data_preparation.py

import os, glob
import cv2
import numpy as np
from tqdm import tqdm

# adjust these paths
color_dir = "path/to/your/color/images"
depth_dir = "path/to/your/depth/images"
out_dir   = "path/to/your/rgbd/images"

os.makedirs(out_dir, exist_ok=True)

print("Processing color and depth images...")
for color_path in tqdm(glob.glob(os.path.join(color_dir, "*.png"))):
    base = os.path.basename(color_path)
    depth_path = os.path.join(depth_dir, base)
    if not os.path.exists(depth_path):
        continue

    rgb = cv2.imread(color_path, cv2.IMREAD_UNCHANGED)     # H×W×3
    depth = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED)   # H×W   (raw depth)
    depth = cv2.normalize(depth, None, 0, 255, cv2.NORM_MINMAX)
    depth = depth.astype(np.uint8)

    # merge to H×W×4 (B,G,R,Depth)
    rgba = cv2.merge([ rgb[:,:,0], rgb[:,:,1], rgb[:,:,2], depth ])
    cv2.imwrite(os.path.join(out_dir, base), rgba)

print("RGBD data preparation completed.")