Class LoadDepthFromFile

embodiedscan/datasets/transforms/loading.py:13–93

Load a depth image from file. Required Keys: - depth_img_path Modified Keys: - depth_img - depth_img_shape Args: imdecode_backend (str): The image decoding backend type. The backend argument for :func:`mmcv.imfrombytes`. See :func:`mmcv.im

@TRANSFORMS.register_module()
class LoadDepthFromFile(BaseTransform):
    """Load a depth image from file.

    Required Keys:

    - depth_img_path

    Modified Keys:

    - depth_img
    - depth_img_shape

    Args:
        imdecode_backend (str): The image decoding backend type. The backend
            argument for :func:`mmcv.imfrombytes`.
            See :func:`mmcv.imfrombytes` for details.
            Defaults to 'cv2'.
        ignore_empty (bool): Whether to allow loading empty image or file path
            not existent. Defaults to False.
        backend_args (dict, optional): Instantiates the corresponding file
            backend. It may contain `backend` key to specify the file
            backend. If it contains, the file backend corresponding to this
            value will be used and initialized with the remaining values,
            otherwise the corresponding file backend will be selected
            based on the prefix of the file path. Defaults to None.
            New in version 2.0.0rc4.
    """

    def __init__(self,
                 imdecode_backend: str = 'cv2',
                 ignore_empty: bool = False,
                 *,
                 backend_args: Optional[dict] = None) -> None:
        self.ignore_empty = ignore_empty
        self.imdecode_backend = imdecode_backend

        self.backend_args = None
        if backend_args is not None:
            self.backend_args = backend_args.copy()

    def transform(self, results: dict) -> Optional[dict]:
        """Functions to load image.

        Args:
            results (dict): Result dict from
                :class:`mmengine.dataset.BaseDataset`.

        Returns:
            dict: The dict contains loaded image and meta information.
        """

        filename = results['depth_img_path']
        depth_shift = results['depth_shift']

        try:
            depth_img_bytes = mmengine.fileio.get(
                filename, backend_args=self.backend_args)
            depth_img = mmcv.imfrombytes(depth_img_bytes,