os.path.join(slice_dir, 'depth_' + str(i).rjust(10, '0') + '.png'),
depth.astype(np.uint16))
cv2.imwrite(
os.path.join(slice_dir, 'mask_' + str(i).rjust(10, '0') + '.png'),
mask.astype(np.uint16))
eimg = dvs_img(sl, (RES_X, RES_Y),
None,
None,
args.slice_width,
mode=1)
nmin = np.nanmin(depth)
nmax = np.nanmax(depth)
eimg[:, :, 2] = (depth - nmin) / (nmax - nmin) * 255
col_mask = mask_to_color(mask)
rgb_img = np.dstack((classical[i], classical[i], classical[i]))
rgb_img[
mask > 10] = rgb_img[mask > 10] * 0.5 + col_mask[mask > 10] * 0.5
eimg = np.hstack((rgb_img, eimg))
footer = gen_text_stub(eimg.shape[1], frame)
eimg = np.vstack((eimg, footer))
cv2.imwrite(
os.path.join(vis_dir, 'frame_' + str(i).rjust(10, '0') + '.png'),
eimg)
print(pydvs.okg("\nDone.\n"))
import os, sys
import pydvs
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--event_file', type=str, required=True)
parser.add_argument('--output_file', type=str, required=True)
parser.add_argument('--discretization',
type=float,
required=False,
default=0.01)
parser.add_argument('--calib', type=str, required=False, default='')
args = parser.parse_args()
print("Opening event file:", pydvs.okg(args.event_file))
cloud, idx = pydvs.read_event_file_txt(args.event_file,
args.discretization)
K = None
D = None
if ('txt' in args.calib):
K, D = pydvs.read_calib_txt(args.calib)
elif ('yaml' in args.calib):
K, D = pydvs.read_calib_yaml(args.calib)
elif (args.calib != ''):
print(pydvs.bld(pydvs.err("Error: Unknown calibration file format!")),
args.calib)
print("Saving...")