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 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 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 = 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)
