Function _collect_colors

benchmark/utils/visualization.py:323–341

Collect pixel colors from each frame's image according to a mask. Args: images_raw: Tensor (N, 3, H, W) [0, 1] mask_per_frame: (N, H, W) bool Returns: (M, 3) float32

(images_raw, mask_per_frame)

def _collect_colors(images_raw, mask_per_frame):
    """Collect pixel colors from each frame's image according to a mask.

    Args:
        images_raw: Tensor (N, 3, H, W) [0, 1]
        mask_per_frame: (N, H, W) bool

    Returns:
        (M, 3) float32
    """
    colors = []
    N = len(mask_per_frame)
    for i in range(N):
        mask = mask_per_frame[i]
        if not mask.any():
            continue
        img = images_raw[i].permute(1, 2, 0).numpy()
        colors.append(img[mask])
    return np.concatenate(colors, axis=0) if colors else np.zeros((0, 3), dtype=np.float32)


def save_scene_inputs(scene, inputs_dir):