importers.py 文件源码

def loadDepthMap(self,filename=None,objName=None,imgNum=None):
        '''
        Read a kinect depth-map as stored with the linemod dataset 
        '''

        if filename is None:
            filename = '{basepath}{objname}/data/depth{num}.dpt'.format(basepath=self.basepath,objname=objName,num=imgNum)

        _,ext = os.path.splitext(filename)
        if ext == ".dpt":
            with open(filename) as f:
                h,w = numpy.fromfile(f,dtype=numpy.uint32,count=2)
                #print('w {}, h {}'.format(w,h))

                data = numpy.fromfile(f,dtype=numpy.uint16,count=w*h)
                data = data.reshape((h,w))

                data = data.astype(numpy.float32)/10.  # make it cm, as everything else is in cm now

        elif ext == ".png":

            data = cv2.imread(filename,cv2.IMREAD_UNCHANGED).astype(numpy.float32) / 10.

        else:
            raise ValueError("Unkown depth image file format '{}'".format(ext))

        return data