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)