def load_stereo_video(drive, **kwargs): left_path = get_video_dir(drive, right=False, **kwargs) right_path = get_video_dir(drive, right=True, **kwargs) left_inds = get_inds(left_path) right_inds = get_inds(right_path) assert (np.unique(left_inds) == np.unique(right_inds)).all() left_images = get_video_images(left_path, left_inds) right_images = get_video_images(right_path, right_inds) return np.array(zip(left_images, right_images))
def load_stereo_video(drive, **kwargs): left_path = get_video_dir(drive, right=False, **kwargs) right_path = get_video_dir(drive, right=True, **kwargs) left_inds = get_inds(left_path) right_inds = get_inds(right_path) assert (np.unique(left_inds) == np.unique(right_inds)).all() left_images = load_video_images(left_path, left_inds) right_images = load_video_images(right_path, right_inds) return np.array(zip(left_images, right_images))
def load_video_odometry(drive, raw=False, **kwargs): drive_dir = get_drive_dir(drive, **kwargs) oxts_dir = os.path.join(drive_dir, 'oxts') data_dir = os.path.join(drive_dir, 'oxts', 'data') inds = get_inds(data_dir, ext='.txt') odometry = get_video_odometry(oxts_dir, inds) return odometry if raw else odometry_to_positions(odometry)
def create_disparity_video(drive, color=False, **kwargs): import scipy.misc from kitti.raw import get_disp_dir disp_dir = get_disp_dir(drive, **kwargs) if os.path.exists(disp_dir): raise RuntimeError("Target directory already exists. " "Please delete '%s' and re-run." % disp_dir) calib_dir = get_calib_dir(**kwargs) velodyne_dir = get_velodyne_dir(drive, **kwargs) inds = get_inds(velodyne_dir, ext='.bin') os.makedirs(disp_dir) for i in inds: points, disps = get_disparity_points( calib_dir, velodyne_dir, i, color=color) disp = lstsq_interp(image_shape, points, disps) disp[disp < 0] = 0 disp = disp.astype('uint8') path = os.path.join(disp_dir, '%010d.png' % i) scipy.misc.imsave(path, disp) print "Created disp image %d" % i
def get_frame_inds(drive, **kwargs): return get_inds(get_video_dir(drive, **kwargs))
def load_disp_video(drive, **kwargs): path = get_disp_dir(drive, **kwargs) inds = get_inds(path) images = load_video_images(path, inds) return np.asarray(images)
def load_disp_video(drive, **kwargs): path = get_disp_dir(drive, **kwargs) inds = get_inds(path) images = get_video_images(path, inds) return np.asarray(images)
def load_video(drive, **kwargs): path = get_video_dir(drive, **kwargs) indices = get_inds(path) images = get_video_images(path, indices) return np.array(images)