mirror of
https://github.com/kritiksoman/GIMP-ML
synced 2024-11-02 03:40:29 +00:00
66 lines
2.2 KiB
Python
66 lines
2.2 KiB
Python
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# Copyright Niantic 2019. Patent Pending. All rights reserved.
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#
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# This software is licensed under the terms of the Monodepth2 licence
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# which allows for non-commercial use only, the full terms of which are made
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# available in the LICENSE file.
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from __future__ import absolute_import, division, print_function
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import os
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import argparse
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import numpy as np
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import PIL.Image as pil
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from utils import readlines
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from kitti_utils import generate_depth_map
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def export_gt_depths_kitti():
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parser = argparse.ArgumentParser(description='export_gt_depth')
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parser.add_argument('--data_path',
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type=str,
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help='path to the root of the KITTI data',
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required=True)
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parser.add_argument('--split',
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type=str,
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help='which split to export gt from',
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required=True,
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choices=["eigen", "eigen_benchmark"])
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opt = parser.parse_args()
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split_folder = os.path.join(os.path.dirname(__file__), "splits", opt.split)
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lines = readlines(os.path.join(split_folder, "test_files.txt"))
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print("Exporting ground truth depths for {}".format(opt.split))
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gt_depths = []
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for line in lines:
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folder, frame_id, _ = line.split()
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frame_id = int(frame_id)
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if opt.split == "eigen":
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calib_dir = os.path.join(opt.data_path, folder.split("/")[0])
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velo_filename = os.path.join(opt.data_path, folder,
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"velodyne_points/data", "{:010d}.bin".format(frame_id))
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gt_depth = generate_depth_map(calib_dir, velo_filename, 2, True)
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elif opt.split == "eigen_benchmark":
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gt_depth_path = os.path.join(opt.data_path, folder, "proj_depth",
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"groundtruth", "image_02", "{:010d}.png".format(frame_id))
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gt_depth = np.array(pil.open(gt_depth_path)).astype(np.float32) / 256
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gt_depths.append(gt_depth.astype(np.float32))
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output_path = os.path.join(split_folder, "gt_depths.npz")
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print("Saving to {}".format(opt.split))
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np.savez_compressed(output_path, data=np.array(gt_depths))
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if __name__ == "__main__":
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export_gt_depths_kitti()
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