def add_views_to_depth_cleaner(data: UndistortedDataSet, neighbors, dc):
for shot in neighbors:
if not data.raw_depthmap_exists(shot.id):
continue
depth, plane, score, nghbr, nghbrs = data.load_raw_depthmap(shot.id)
height, width = depth.shape
K = shot.camera.get_K_in_pixel_coordinates(width, height)
R = shot.pose.get_rotation_matrix()
t = shot.pose.translation
dc.add_view(K, R, t, depth)
def add_views_to_depth_pruner(data: UndistortedDataSet, neighbors, dp):
for shot in neighbors:
if not data.raw_depthmap_exists(shot.id):
continue
depth, plane, score = data.load_clean_depthmap(shot.id)
height, width = depth.shape
color_image = data.load_undistorted_image(shot.id)
labels = load_segmentation_labels(data, shot)
detections = load_detection_labels(data, shot)
height, width = depth.shape
image = scale_down_image(color_image, width, height)
labels = scale_down_image(labels, width, height, cv2.INTER_NEAREST)
detections = scale_down_image(detections, width, height,
cv2.INTER_NEAREST)
K = shot.camera.get_K_in_pixel_coordinates(width, height)
R = shot.pose.get_rotation_matrix()
t = shot.pose.translation
dp.add_view(K, R, t, depth, plane, image, labels, detections)