kitti.py 文件源码

def getMeanVar(self):
        depths = None
        for f in self.depthFiles:
            depthImg = imread(f).astype(np.float32)/256
            validDepths = depthImg[np.nonzero(depthImg != 0)]
            if(depths == None):
                depths = validDepths
            else:
                depths = np.concatenate((depths, validDepths))
        self.mean = np.mean(depths)
        self.std = np.std(depths)
        print "depth mean: ", self.mean
        print "depth std: ", self.std

    #Function to return new image and depth file
    #TODO generate random ranking and randomize images