google_parse.py 文件源码

def decode_depth_map(self, raw):
        raw = zlib.decompress(base64.urlsafe_b64decode(raw + self.make_padding(raw)))
        pos = 0

        (header_size, num_planes, pano_width, pano_height, plane_indices_offset) = struct.unpack('<BHHHB', raw[0:8])
        self.depthHeader = {'numPlanes': num_planes, 'panoWidth': pano_width, 'panoHeight': pano_height}

        if header_size != 8 or plane_indices_offset != 8:
            print("Invalid depthmap data")
            return
        pos += header_size

        self.depthMapIndices = [x for x in raw[plane_indices_offset:plane_indices_offset + (pano_width * pano_height)]]
        pos += len(self.depthMapIndices)

        self.depthMapPlanes = []
        for i in range(0, num_planes):
            (nx, ny, nz, d) = struct.unpack('<ffff', raw[pos:pos + 16])

            self.depthMapPlanes.append(
                {'d': d, 'nx': nx, 'ny': ny, 'nz': nz})  # nx/ny/nz = unit normal, d = distance from origin
            pos += 16