uw_rgbd.py 文件源码

def test_uw_rgbd_object(): 
    from pybot.vision.image_utils import to_color
    from pybot.vision.imshow_utils import imshow_cv

    object_directory = '~/data/rgbd_datasets/udub/rgbd-object-crop/rgbd-dataset'
    rgbd_data_uw = UWRGBDObjectDataset(directory=object_directory)

    for f in rgbd_data_uw.iteritems(every_k_frames=5): 
        bbox = f.bbox
        imshow_cv('frame', 
                  np.hstack([f.img, np.bitwise_and(f.img, to_color(f.mask))]), 
                  text='Image + Mask [Category: [%i] %s, Instance: %i]' % 
                  (bbox['category'], rgbd_data_uw.get_category_name(bbox['category']), bbox['instance']))
        imshow_cv('depth', (f.depth / 16).astype(np.uint8), text='Depth')