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utils.py
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utils.py
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import numpy as np
''' read depth map provided by FlyingThings3D dataset'''
def readPFM(file):
file = open(file, 'rb')
color = None
width = None
height = None
scale = None
endian = None
header = file.readline().rstrip()
if header.decode("ascii") == 'PF':
color = True
elif header.decode("ascii") == 'Pf':
color = False
else:
raise Exception('Not a PFM file.')
dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline().decode("ascii"))
if dim_match:
width, height = list(map(int, dim_match.groups()))
else:
raise Exception('Malformed PFM header.')
scale = float(file.readline().decode("ascii").rstrip())
if scale < 0: # little-endian
endian = '<'
scale = -scale
else:
endian = '>' # big-endian
data = np.fromfile(file, endian + 'f')
shape = (height, width, 3) if color else (height, width)
data = np.reshape(data, shape)
data = np.flipud(data)
return data, scale