kitti.py 文件源码

def __init__(self, directory, is_2015=False, scale=1.0):
        """
        Ground truth dataset iterator
        """
        if is_2015: 
            left_dir, right_dir = 'image_2', 'image_3'
            noc_dir, occ_dir = 'disp_noc_0', 'disp_occ_0'
            calib_left, calib_right = 'P2', 'P3'
        else: 
            left_dir, right_dir = 'image_0', 'image_1'
            noc_dir, occ_dir = 'disp_noc', 'disp_occ'
            calib_left, calib_right = 'P0', 'P1'

        self.scale = scale

        # Stereo is only evaluated on the _10.png images
        self.stereo = StereoDatasetReader(os.path.expanduser(directory), 
                                          left_template=''.join([left_dir, '/%06i_10.png']), 
                                          right_template=''.join([right_dir, '/%06i_10.png']), scale=scale, grayscale=True)
        self.noc = ImageDatasetReader(template=os.path.join(os.path.expanduser(directory), noc_dir, '%06i_10.png'))
        self.occ = ImageDatasetReader(template=os.path.join(os.path.expanduser(directory), occ_dir, '%06i_10.png'))

        def calib_read(fn, scale): 
            db = AttrDict.load_yaml(fn)
            P0 = np.float32(db[calib_left].split(' '))
            P1 = np.float32(db[calib_right].split(' '))
            fx, cx, cy = P0[0], P0[2], P0[6]
            baseline_px = np.fabs(P1[3])
            return StereoCamera.from_calib_params(fx, fx, cx, cy, baseline_px=baseline_px)

        self.calib = DatasetReader(template=os.path.join(os.path.expanduser(directory), 'calib/%06i.txt'), 
                                   process_cb=lambda fn: calib_read(fn, scale))

        self.poses = repeat(None)