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sha256:ab48a84926c3c6f8e730eaf2597b88eccf8b4feb2949b1e0b0f78b0a5eeb2947 +size 904814 diff --git a/data_io.py b/data_io.py new file mode 100644 index 0000000000000000000000000000000000000000..9178f8a8817a3dfd44d26b226254796b1d6e1b66 --- /dev/null +++ b/data_io.py @@ -0,0 +1,47 @@ +import numpy as np +import cv2 +import os + + +class CarlaDataset(object): + def __init__(self, data_root='/data3/Carla_stereo'): + pass + self.data_root = data_root + fov = 90 # default setting for carla + self.height = 1080 + self.width = 1920 + self.focal_length = self.width / (2.0 * np.tan(fov * np.pi / 360.0)) + self.baseline_left_to_right = 2.0 # in terms of meter + self.baseline_left_to_middle = 1.0 + self.baseline_right_to_middle = 1.0 + self.loc_idx = ['Middle', 'Left', 'Right'] + self.sensor_idx = ['NormalizedDepth', 'RawDepth', 'RGB'] + self.data_dict = {} + + def read_data(self): + for loc in self.loc_idx: + for sensor in self.sensor_idx: + sensor_name = f'{loc}_{sensor}' + sensor_data = os.listdir(os.path.join(self.data_root, sensor_name)) + self.data_dict['sensor_name'] = sensor_data + + def get_intrinsics(self, fov, h, w): + pass + + def read_depth(self, raw_depth, norm_depth): + ''' + raw_depth: [H, W, 3] in RGB format + ''' + depth = cv2.imread(raw_depth) + import pdb; pdb.set_trace() + depth_value = (depth[..., 0] + depth[..., 1] * 256 + depth[..., 2] * (256**2)) / (256**3 - 1) + norm_depth = cv2.imread(norm_depth) + valid_mask = norm_depth[..., 0] != 255 + cv2.imwrite('./valid_mask.png', (valid_mask*255).astype(np.uint8)) + return depth_value, valid_mask + +if __name__ == '__main__': + carla_dataset = CarlaDataset() + raw_depth = 'Middle_RawDepth/000005.png' + norm_depth = 'Middle_NormalizedDepth/000005.png' + carla_dataset.read_depth(raw_depth, norm_depth) \ No newline at end of file diff --git a/valid_mask.png b/valid_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..20e8d6d6ceb8aa6494d081ea62fe6fcbb41b9f55 --- /dev/null +++ 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