def data(self, downsample = 1):
if self._type == "image":
Image = misc.imread(self._path)[:, :, 0:3]
if downsample != 1: Image = tb.downsampleImage(Image, downsample)
return Image[..., np.r_[2, 1, 0]].transpose((2, 0, 1))
elif self._type == "flow":
flow = tb.readFlow(self._path)
flow = flow[:, :, 0:2]
if downsample != 1: flow = OpticalFlow.downsampleMedian(flow, downsample)
flow = flow.transpose((2, 0, 1))
nanMask = np.isnan(flow)
data = (flow * 32.0).astype(np.int16)
data[nanMask] = np.iinfo(np.int16).max
return data
elif self._type == "leftdisparity":
disparity = tb.readDisparity(self._path)
nanMask = np.isnan(disparity)
disparity *= -1
if downsample != 1: raise Exception("no downsampling implemented for disparity")
data = (disparity * 32.0).astype(np.int16)
data[nanMask] = np.iinfo(np.int16).max
return data
elif self._type == "rightdisparity":
disparity = tb.readDisparity(self._path)
nanMask = np.isnan(disparity)
if downsample != 1: raise Exception("no downsampling implemented for disparity")
data = (disparity * 32.0).astype(np.int16)
data[nanMask] = np.iinfo(np.int16).max
return data
elif self._type == "leftdisparitychange":
disparityChange = tb.readDisparity(self._path)
nanMask = np.isnan(disparityChange)
disparityChange *= -1
if downsample != 1: raise Exception("no downsampling implemented for disparity")
data = (disparityChange * 32.0).astype(np.int16)
data[nanMask] = np.iinfo(np.int16).max
return data
elif self._type == "rightdisparitychange":
disparityChange = tb.readDisparity(self._path)
nanMask = np.isnan(disparityChange)
if downsample != 1: raise Exception("no downsampling implemented for disparity")
data = (disparityChange * 32.0).astype(np.int16)
data[nanMask] = np.iinfo(np.int16).max
return data
else:
raise Exception('unhandled data type')
def dims(self, downsample = 1):
if self._type == "image":
Image = misc.imread(self._path)[:, :, 0:3]
if downsample != 1: Image = tb.downsampleImage(Image, downsample)
return (Image.shape[1], Image.shape[0])
raise Exception('dimensions not implemented for datatype')
