def read_img(path, img_size=None, no_process=False, only_resize=False):
'''
Read image and process
'''
proc_img = m_preprocess.get_transform()
if no_process:
img = PIL.Image.open(path)
width, height = img.size
else:
if img_size is not None:
img = PIL.Image.open(path).convert('RGB')
img = img.resize(img_size, PIL.Image.BICUBIC)
else:
img = PIL.Image.open(path).convert('RGB')
width, height = img.size
if not only_resize:
img = proc_img(img)
raw_sz = (width, height)
return img, raw_sz
def _read_img(p_data, indx, img_size = None, no_process= False, only_resize = False):
'''
Read image and process
'''
proc_img = m_preprocess.get_transform()
if no_process:
img = p_data.get_cam2(indx)
width, height = img.size
else:
if img_size is not None:
img = p_data.get_cam2(indx)
img = img.resize( img_size, PIL.Image.BICUBIC )
else:
img = p_data.get_cam2(indx)
width, height = img.size
if not only_resize:
img = proc_img(img)
raw_sz = (width, height)
return img, raw_sz
def __getitem__(self, indx):
r'''
outputs:
{'img': img.unsqueeze_(0), 'img_gray': img_gray.unsqueeze_(0), 'scene_path': scene_path, 'img_path': img_path }
'''
img_path = self.img_seq_paths[indx]
proc_normalize = m_preprocess.get_transform()
proc_totensor = m_preprocess.to_tensor()
img = read_img(img_path , no_process = True)[0]
img = img.resize(self.img_size, PIL.Image.NEAREST)
img_gray = self.to_gray(img)
if self.if_preprocess:
img = proc_normalize(img)
else:
proc_totensor = tfv_transform.ToTensor()
img = proc_totensor(img)
# image path #
scene_path = os.path.split(img_path)[0]
return { 'img': img.unsqueeze_(0), 'img_gray': img_gray.unsqueeze_(0), 'scene_path': scene_path, 'img_path': img_path, }
def __getitem__(self, indx):
'''
outputs:
img, dmap, extM, scene_path , as entries in a dic.
'''
dmap_path = self.dmap_seq_paths[indx]
proc_normalize = m_preprocess.get_transform()
proc_totensor = m_preprocess.to_tensor()
# read rgb image #
img = _read_img(self.p_data, indx, no_process = True)[0]
img = img.resize(self.img_size, PIL.Image.NEAREST)
if self.resize_dmap is not None:
img_dw = img.resize(
[int(self.img_size[0]* self.resize_dmap), int(self.img_size[1]* self.resize_dmap)],
PIL.Image.NEAREST)
else:
img_dw = None
img_gray = self.to_gray(img)
# read GT depth map (if available) #
dmap_raw = _read_dimg(dmap_path, no_process = True)[0]
if dmap_raw is not -1:
dmap_mask_imgsize = np.array(dmap_raw, dtype=int).astype(np.float32) < 0.01
dmap_mask_imgsize = PIL.Image.fromarray(
dmap_mask_imgsize.astype(np.uint8) * 255).resize([self.img_size[0],
self.img_size[1]], PIL.Image.NEAREST )
if self.resize_dmap is not None:
dmap_imgsize = dmap_raw.resize([self.img_size[0], self.img_size[1]], PIL.Image.NEAREST)
dmap_imgsize = proc_totensor(dmap_imgsize)[0, :, :].float() / 256.
dmap_rawsize = proc_totensor(dmap_raw)[0,:,:].float() / 256.
# resize the depth map #
dmap_size = [ int(float(self.img_size[0]) * self.resize_dmap),
int(float(self.img_size[1]) * self.resize_dmap)]
dmap_raw_bilinear_dw = dmap_raw.resize(dmap_size, PIL.Image.BILINEAR)
dmap_raw = dmap_raw.resize(dmap_size, PIL.Image.NEAREST)
dmap_mask = dmap_mask_imgsize.resize(dmap_size, PIL.Image.NEAREST)
dmap_raw = proc_totensor(dmap_raw)[0,:,:] # single-channel for depth map
dmap_raw = dmap_raw.float() / 256. # scale to meter
dmap_raw_bilinear_dw = proc_totensor(dmap_raw_bilinear_dw)[0,:,:]
dmap_raw_bilinear_dw = dmap_raw_bilinear_dw.float() / 256.
if self.resize_dmap is None:
dmap_rawsize = dmap_raw
dmap_mask = 1 - (proc_totensor(dmap_mask) > 0 )
dmap_mask_imgsize = 1-( proc_totensor( dmap_mask_imgsize ) >0)
dmap_raw = dmap_raw * dmap_mask.squeeze().type_as(dmap_raw)
dmap_raw_bilinear_dw = dmap_raw_bilinear_dw * dmap_mask.squeeze().type_as(dmap_raw)
dmap_imgsize = dmap_imgsize * dmap_mask_imgsize.squeeze().type_as(dmap_imgsize)
if self.digitize:
# digitize the depth map #
dmap = mloader_misc.dMap_to_indxMap( dmap_raw, self.d_candi )
dmap[dmap >= self.label_max] = self.label_max
dmap[dmap <= self.label_min] = self.label_min
dmap = torch.from_numpy(dmap)
dmap_imgsize_digit = mloader_misc.dMap_to_indxMap(dmap_imgsize, self.d_candi)
dmap_imgsize_digit[dmap_imgsize_digit >= self.label_max] = self.label_max
dmap_imgsize_digit[dmap_imgsize_digit<= self.label_min] = self.label_min
dmap_imgsize_digit = torch.from_numpy(dmap_imgsize_digit)
dmap_up4_imgsize_digit = mloader_misc.dMap_to_indxMap(dmap_imgsize, self.dup4_candi)
dmap_up4_imgsize_digit[dmap_up4_imgsize_digit >= self.dup4_label_max] = self.dup4_label_max
dmap_up4_imgsize_digit[dmap_up4_imgsize_digit <= self.dup4_label_min] = self.dup4_label_min
dmap_up4_imgsize_digit = torch.from_numpy(dmap_up4_imgsize_digit)
else:
dmap = dmap_raw
dmap_imgsize_digit = dmap_imgsize
dmap_up4_imgsize_digit = dmap_imgsize
if self.if_preprocess:
img = proc_normalize(img)
if self.resize_dmap is not None:
img_dw = proc_normalize(img_dw)
else:
proc_totensor = tfv_transform.ToTensor()
img = proc_totensor(img)
if self.resize_dmap is not None:
img_dw = proc_totensor(img_dw)
# extM = self.poses[indx]
if self.crop_w is not None:
side_crop = int( (self.img_size[0] - self.crop_w )/2 )
side_crop_dw = int( side_crop * self.resize_dmap )
img_size = self.img_size
img = img[:, :, side_crop: img_size[0]-side_crop]
img_dw = img_dw[:, :, side_crop_dw: img_dw.shape[-1]-side_crop_dw]
img_gray = img_gray[:, :, side_crop: img_size[0]-side_crop]
if dmap_raw is not -1:
dmap = dmap[ :, side_crop_dw: (dmap.shape[1] - side_crop_dw) ]
dmap_raw = dmap_raw[ :, side_crop_dw: (dmap_raw.shape[1] - side_crop_dw) ]
dmap_raw_bilinear_dw = dmap_raw_bilinear_dw[
:, side_crop_dw: (dmap_raw_bilinear_dw.shape[1] - side_crop_dw) ]
dmap_rawsize = dmap_rawsize[ :, side_crop : (dmap_rawsize.shape[1] - side_crop ) ]
dmap_imgsize = dmap_imgsize[ :, side_crop : (dmap_imgsize.shape[1] - side_crop ) ]
dmap_imgsize_digit = dmap_imgsize_digit[
:, side_crop : (dmap_imgsize_digit.shape[1] - side_crop ) ]
dmap_up4_imgsize_digit = dmap_up4_imgsize_digit[ :, side_crop : (dmap_up4_imgsize_digit.shape[1] - side_crop ) ]
dmap_mask = dmap_mask[:, :, side_crop_dw: (dmap_mask.shape[-1] - side_crop_dw) ]
dmap_mask_imgsize = dmap_mask_imgsize[
:, :, side_crop: (dmap_mask_imgsize.shape[-1] - side_crop) ]
# read extrinsics #
# IMU to camera #
M_imu2cam = self.p_data.calib.T_cam2_imu
extM = np.matmul( M_imu2cam, np.linalg.inv(self.poses[indx]) )
# image path #
scene_path = self.p_data.calib_path
img_path = self.p_data.cam2_files[indx]
return {'img': img.unsqueeze_(0),
'img_dw': img_dw.unsqueeze_(0),
'dmap': dmap.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_raw':dmap_raw.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_raw_bilinear_dw':dmap_raw_bilinear_dw.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_rawsize': dmap_rawsize.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_imgsize': dmap_imgsize.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_imgsize_digit': dmap_imgsize_digit.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_up4_imgsize_digit': dmap_up4_imgsize_digit.unsqueeze_(0) if dmap_raw is not -1 else -1,
'dmap_mask': dmap_mask.unsqueeze_(0).type_as(dmap) if dmap_raw is not -1 else -1,
'dmap_mask_imgsize': dmap_mask_imgsize.unsqueeze_(0).type_as(dmap) if dmap_raw is not -1 else -1,
'img_gray': img_gray.unsqueeze_(0),
'extM': extM,
'scene_path': scene_path,
'img_path': img_path, }
def __getitem__(self, indx):
'''
outputs:
img, dmap, extM, scene_path , as entries in a dic.
'''
img_path = self.img_seq_paths[indx]
dmap_path = self.dmap_seq_paths[indx]
cam_pose_path = self.cam_pose_seq_paths[indx]
proc_normalize = m_preprocess.get_transform()
proc_totensor = m_preprocess.to_tensor()
img = read_img(img_path, no_process=True)[0]
img = img.resize(self.img_size, PIL.Image.NEAREST)
img_gray = self.to_gray(img)
dmap_raw = read_img(dmap_path, no_process=True)[0]
dmap_mask_imgsize = np.asarray(dmap_raw) < 0.01
dmap_mask_imgsize = PIL.Image.fromarray(
dmap_mask_imgsize.astype(np.uint8) * 255).resize(
[self.img_size[0], self.img_size[1]], PIL.Image.NEAREST)
if self.resize_dmap is not None:
dmap_imgsize = dmap_raw.resize(
[self.img_size[0], self.img_size[1]], PIL.Image.NEAREST)
dmap_imgsize = proc_totensor(dmap_imgsize)[0, :, :].float() * .001
dmap_rawsize = proc_totensor(dmap_raw)[0, :, :].float() * .001
# resize the depth map #
dmap_size = [
int(float(self.img_size[0]) * self.resize_dmap),
int(float(self.img_size[1]) * self.resize_dmap)
]
dmap_raw_bilinear_dw = dmap_raw.resize(dmap_size,
PIL.Image.BILINEAR)
dmap_raw = dmap_raw.resize(dmap_size, PIL.Image.NEAREST)
dmap_mask = dmap_mask_imgsize.resize(dmap_size, PIL.Image.NEAREST)
dmap_raw = proc_totensor(dmap_raw)[
0, :, :] # single-channel for depth map
dmap_raw = dmap_raw.float() * .001 # scale to meter
dmap_raw_bilinear_dw = proc_totensor(dmap_raw_bilinear_dw)[0, :, :]
dmap_raw_bilinear_dw = dmap_raw_bilinear_dw.float() * .001
if self.resize_dmap is None:
dmap_rawsize = dmap_raw
dmap_mask = 1 - (proc_totensor(dmap_mask) > 0)
dmap_mask_imgsize = 1 - (proc_totensor(dmap_mask_imgsize) > 0)
dmap_raw = dmap_raw * dmap_mask.squeeze().type_as(dmap_raw)
dmap_raw_bilinear_dw = dmap_raw_bilinear_dw * dmap_mask.squeeze(
).type_as(dmap_raw)
dmap_imgsize = dmap_imgsize * dmap_mask_imgsize.squeeze().type_as(
dmap_imgsize)
if self.digitize:
# digitize the depth map #
dmap = mloader_misc.dMap_to_indxMap(dmap_raw, self.d_candi)
dmap[dmap >= self.label_max] = self.label_max
dmap[dmap <= self.label_min] = self.label_min
dmap = torch.from_numpy(dmap)
dmap_imgsize_digit = mloader_misc.dMap_to_indxMap(
dmap_imgsize, self.d_candi)
dmap_imgsize_digit[
dmap_imgsize_digit >= self.label_max] = self.label_max
dmap_imgsize_digit[
dmap_imgsize_digit <= self.label_min] = self.label_min
dmap_imgsize_digit = torch.from_numpy(dmap_imgsize_digit)
dmap_up4_imgsize_digit = mloader_misc.dMap_to_indxMap(
dmap_imgsize, self.dup4_candi)
dmap_up4_imgsize_digit[dmap_up4_imgsize_digit >=
self.dup4_label_max] = self.dup4_label_max
dmap_up4_imgsize_digit[dmap_up4_imgsize_digit <=
self.dup4_label_min] = self.dup4_label_min
dmap_up4_imgsize_digit = torch.from_numpy(dmap_up4_imgsize_digit)
else:
dmap = dmap_raw
dmap_imgsize_digit = dmap_imgsize
dmap_up4_imgsize_digit = dmap_imgsize
if self.if_preprocess:
img = proc_normalize(img)
else:
proc_totensor = tfv_transform.ToTensor()
img = proc_totensor(img)
# extrinsics #
extM = read_ExtM_from_txt(cam_pose_path)
# image path #
scene_path = os.path.split(img_path)[0]
return {
'img': img.unsqueeze_(0),
'dmap': dmap.unsqueeze_(0),
'dmap_raw': dmap_raw.unsqueeze_(0),
'dmap_raw_bilinear_dw': dmap_raw_bilinear_dw.unsqueeze_(0),
'dmap_rawsize': dmap_rawsize.unsqueeze_(0),
'dmap_imgsize': dmap_imgsize.unsqueeze_(0),
'dmap_imgsize_digit': dmap_imgsize_digit.unsqueeze_(0),
'dmap_up4_imgsize_digit': dmap_up4_imgsize_digit.unsqueeze_(0),
'img_gray': img_gray.unsqueeze_(0),
'dmap_mask': dmap_mask.unsqueeze_(0).type_as(dmap),
'dmap_mask_imgsize': dmap_mask_imgsize.unsqueeze_(0).type_as(dmap),
'extM': extM,
'scene_path': scene_path,
'img_path': img_path,
}
