uw_rgbd.py 文件源码

def __init__(self, target, instance, files): 
            self.target = target 
            self.instance = instance
            mask_files = natural_sort(filter(lambda fn: '_maskcrop.png' in fn, files))
            depth_files = natural_sort(filter(lambda  fn: '_depthcrop.png' in fn, files))
            rgb_files = natural_sort(list(set(files) - set(mask_files) - set(depth_files)))
            loc_files = natural_sort(map(lambda fn: fn.replace('_crop.png', '_loc.txt'), rgb_files))

            # Ensure all have equal number of files (Hack! doesn't ensure filename consistency)
            nfiles = np.min([len(loc_files), len(mask_files), len(depth_files), len(rgb_files)])
            mask_files, depth_files, rgb_files, loc_files = mask_files[:nfiles], depth_files[:nfiles], \
                                                            rgb_files[:nfiles], loc_files[:nfiles]

            # print target, instance, len(loc_files), len(mask_files), len(depth_files), len(rgb_files)
            assert(len(mask_files) == len(depth_files) == len(rgb_files) == len(loc_files))

            # Read images
            self.rgb = ImageDatasetReader.from_filenames(rgb_files)
            self.depth = ImageDatasetReader.from_filenames(depth_files)
            self.mask = ImageDatasetReader.from_filenames(mask_files)

            # Read top-left locations of bounding box
            self.locations = np.vstack([np.loadtxt(loc, delimiter=',', dtype=np.int32) 
                                        for loc in loc_files])