| 52 | |
| 53 | @staticmethod |
| 54 | def scale_stereo(data: StereoData, scale_u: float, scale_v: float, interpolate: Literal["nearest", "bilinear"]) -> StereoData: |
| 55 | match interpolate: |
| 56 | case "bilinear": interp = InterpolationMode.BILINEAR |
| 57 | case "nearest" : interp = InterpolationMode.NEAREST_EXACT |
| 58 | |
| 59 | raw_height = data.height |
| 60 | raw_width = data.width |
| 61 | |
| 62 | target_h = int(raw_height / scale_v) |
| 63 | target_w = int(raw_width / scale_u) |
| 64 | |
| 65 | round_scale_v = raw_height / target_h |
| 66 | round_scale_u = raw_width / target_w |
| 67 | |
| 68 | data.K = data.K.clone() |
| 69 | data.height = target_h |
| 70 | data.width = target_w |
| 71 | data.K[:, 0] /= round_scale_u |
| 72 | data.K[:, 1] /= round_scale_v |
| 73 | |
| 74 | data.imageL = resize(data.imageL, [target_h, target_w], interpolation=interp) |
| 75 | data.imageR = resize(data.imageR, [target_h, target_w], interpolation=interp) |
| 76 | |
| 77 | if data.gt_flow is not None: |
| 78 | data.gt_flow = resize(data.gt_flow, [target_h, target_w], interpolation=interp) |
| 79 | data.gt_flow[:, 0] /= round_scale_u |
| 80 | data.gt_flow[:, 1] /= round_scale_v |
| 81 | |
| 82 | if data.flow_mask is not None: |
| 83 | data.flow_mask = resize(data.flow_mask, [target_h, target_w], interpolation=interp) |
| 84 | |
| 85 | if data.gt_depth is not None: |
| 86 | data.gt_depth = resize(data.gt_depth, [target_h, target_w], interpolation=interp) |
| 87 | |
| 88 | return data |
| 89 | |
| 90 | def forward(self, frame: StereoFrame) -> StereoFrame: |
| 91 | frame.stereo = self.scale_stereo( |