sun3d_utils.py 文件源码

def test_sun_rgbd(): 
    from pybot.vision.image_utils import to_color
    from pybot.vision.imshow_utils import imshow_cv
    from pybot.utils.io_utils import write_video
    from pybot.vision.color_utils import colormap

    directory = '/media/HD1/data/SUNRGBD/'
    dataset = SUNRGBDDataset(directory)

    colors = cv2.imread('data/sun3d/sun.png').astype(np.uint8)
    for (rgb, depth, label) in dataset.segmentationdb(None): 
        cout = np.dstack([label, label, label])
        colored = cv2.LUT(cout, colors)
        cdepth = colormap(depth / 64000.0)
        for j in range(5): 
            write_video('xtion.avi', np.hstack([rgb, cdepth, colored]))

    # for f in dataset.iteritems(every_k_frames=5): 
    #     # vis = rgbd_data_uw.annotate(f)
    #     imshow_cv('frame', f.img, text='Image')
    #     imshow_cv('depth', (f.depth / 16).astype(np.uint8), text='Depth')
    #     imshow_cv('instance', (f.instance).astype(np.uint8), text='Instance')
    #     imshow_cv('label', (f.label).astype(np.uint8), text='Label')
    #     cv2.waitKey(100)

    return dataset