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| import os | |
| import re | |
| import cv2 | |
| import numpy as np | |
| from ..utils.common import Notify | |
| def read_list(list_path): | |
| """Read list.""" | |
| if list_path is None or not os.path.exists(list_path): | |
| print(Notify.FAIL, "Not exist", list_path, Notify.ENDC) | |
| exit(-1) | |
| content = open(list_path).read().splitlines() | |
| return content | |
| def load_pfm(pfm_path): | |
| with open(pfm_path, "rb") as fin: | |
| color = None | |
| width = None | |
| height = None | |
| scale = None | |
| data_type = None | |
| header = str(fin.readline().decode("UTF-8")).rstrip() | |
| if header == "PF": | |
| color = True | |
| elif header == "Pf": | |
| color = False | |
| else: | |
| raise Exception("Not a PFM file.") | |
| dim_match = re.match(r"^(\d+)\s(\d+)\s$", fin.readline().decode("UTF-8")) | |
| if dim_match: | |
| width, height = map(int, dim_match.groups()) | |
| else: | |
| raise Exception("Malformed PFM header.") | |
| scale = float((fin.readline().decode("UTF-8")).rstrip()) | |
| if scale < 0: # little-endian | |
| data_type = "<f" | |
| else: | |
| data_type = ">f" # big-endian | |
| data_string = fin.read() | |
| data = np.fromstring(data_string, data_type) | |
| shape = (height, width, 3) if color else (height, width) | |
| data = np.reshape(data, shape) | |
| data = np.flip(data, 0) | |
| return data | |
| def _parse_img(img_paths, idx, config): | |
| img_path = img_paths[idx] | |
| img = cv2.imread(img_path)[:, :, ::-1] | |
| if config["resize"] > 0: | |
| img = cv2.resize(img, (config["resize"], config["resize"])) | |
| return img | |
| def _parse_depth(depth_paths, idx, config): | |
| depth = load_pfm(depth_paths[idx]) | |
| if config["resize"] > 0: | |
| target_size = config["resize"] | |
| if config["input_type"] == "raw": | |
| depth = cv2.resize(depth, (int(target_size / 2), int(target_size / 2))) | |
| else: | |
| depth = cv2.resize(depth, (target_size, target_size)) | |
| return depth | |
| def _parse_kpts(kpts_paths, idx, config): | |
| kpts = np.load(kpts_paths[idx])["pts"] | |
| # output: [N, 2] (W first H last) | |
| return kpts | |