Function segment_sky_from_array_batch

demo_render/rgbd_render/data/sky.py:215–231

Batch version of segment_sky_from_array.

(
    images: List[np.ndarray],
    skyseg_session,
    target_h: int,
    target_w: int,
)

def segment_sky_from_array_batch(
    images: List[np.ndarray],
    skyseg_session,
    target_h: int,
    target_w: int,
) -> List[np.ndarray]:
    """Batch version of segment_sky_from_array."""
    bgr_images = []
    for img in images:
        rgb = _image_to_rgb_uint8(img)
        bgr_images.append(cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR))
    score_maps = run_skyseg_batch(skyseg_session, _SKYSEG_INPUT_SIZE, bgr_images)
    results = []
    for sm in score_maps:
        resized = cv2.resize(sm, (target_w, target_h), interpolation=cv2.INTER_LINEAR)
        results.append(_result_map_to_non_sky_conf(resized))
    return results


def segment_sky(