Load depth map from PNG file (16-bit) and convert to meters. Args: depth_path (str): Path to depth image scale (float): Scale factor to convert to meters - 1000.0 for millimeters - 1.0 for meters Returns: np.ndarray: Depth map in meters
(depth_path, scale=1000.0)
| 55 | |
| 56 | |
| 57 | def load_depth_map(depth_path, scale=1000.0): |
| 58 | """ |
| 59 | Load depth map from PNG file (16-bit) and convert to meters. |
| 60 | |
| 61 | Args: |
| 62 | depth_path (str): Path to depth image |
| 63 | scale (float): Scale factor to convert to meters |
| 64 | - 1000.0 for millimeters |
| 65 | - 1.0 for meters |
| 66 | |
| 67 | Returns: |
| 68 | np.ndarray: Depth map in meters (H, W), float32 |
| 69 | """ |
| 70 | if not Path(depth_path).exists(): |
| 71 | raise FileNotFoundError(f"Depth map not found: {depth_path}") |
| 72 | |
| 73 | # Read depth map as 16-bit |
| 74 | depth_map = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) |
| 75 | if depth_map is None: |
| 76 | raise ValueError(f"Failed to read depth map: {depth_path}") |
| 77 | |
| 78 | # Convert to meters |
| 79 | depth_map = depth_map.astype(np.float32) / scale |
| 80 | |
| 81 | # Replace invalid values with 0 |
| 82 | depth_map = np.nan_to_num(depth_map, nan=0.0, posinf=0.0, neginf=0.0) |
| 83 | |
| 84 | return depth_map |
| 85 | |
| 86 | def load_intrinsics(intrinsics_path, width, height): |
| 87 | """ |