uw_rgbd.py 文件源码

def iteritems(self, every_k_frames=1): 
            for rgb_im, depth_im, mask_im, loc in \
                izip(self.rgb.iteritems(every_k_frames=every_k_frames), 
                     self.depth.iteritems(every_k_frames=every_k_frames), 
                     self.mask.iteritems(every_k_frames=every_k_frames), 
                     self.locations[::every_k_frames]): 

                rgb = np.zeros(shape=UWRGBDObjectDataset.default_rgb_shape, dtype=np.uint8)
                depth = np.zeros(shape=UWRGBDObjectDataset.default_depth_shape, dtype=np.uint16)
                mask = np.zeros(shape=UWRGBDObjectDataset.default_depth_shape, dtype=np.uint8)

                rgb[loc[1]:loc[1]+rgb_im.shape[0], loc[0]:loc[0]+rgb_im.shape[1]] = rgb_im
                depth[loc[1]:loc[1]+depth_im.shape[0], loc[0]:loc[0]+depth_im.shape[1]] = depth_im
                mask[loc[1]:loc[1]+mask_im.shape[0], loc[0]:loc[0]+mask_im.shape[1]] = mask_im

                # Only a single bbox per image
                yield AttrDict(img=rgb, depth=depth, mask=mask, 
                               bbox=[AttrDict(
                                   coords=np.float32([loc[0], loc[1], 
                                                      loc[0]+mask_im.shape[1], 
                                                      loc[1]+mask_im.shape[0]]), 
                                   target=self.target, 
                                   category=UWRGBDDataset.get_category_name(self.target), 
                                   instance=self.instance)])