stereo_utils.py 文件源码

def disparity_interpolate(disp, fill_zeros=True): 
    # Determine valid positive disparity pixels
    xyd = valid_pixels(disp, disp > 0)

    # Nearest neighbor interpolator
    nn = LinearNDInterpolator(xyd[:,:2], xyd[:,2])

    # Interpolate all pixels
    xyd = valid_pixels(disp, np.ones(shape=disp.shape, dtype=np.bool))
    return nn(xyd[:,:2]).reshape(disp.shape[:2])