test

tomatotest.py

@@ -29,7 +29,8 @@ class RGBSemanticDepthDataset(GeneratorBasedBuilder):
             features=Features({
                 "left_rgb": datasets.Image(),
                 "right_rgb": datasets.Image(),
-                "left_seg": datasets.Image(),
+                "left_semantic": datasets.Image(),
+                "left_instance": datasets.Image(),
                 "left_depth": datasets.Image(),
                 "right_depth": datasets.Image(),
             })
@@ -43,16 +44,18 @@ class RGBSemanticDepthDataset(GeneratorBasedBuilder):
             right_rgb = self._read_jpg(h5f['rgb_right'][:])
             left_depth = h5f['depth_left'][:].astype(np.float32)
             right_depth = h5f['depth_right'][:].astype(np.float32)
-            return left_rgb, right_rgb, np.zeros((1,1)), left_depth, right_depth
+            return left_rgb, right_rgb, np.zeros((1,1)), np.zeros((1,1)), left_depth, right_depth
         elif type_dataset == 'seg':
-            left_seg = h5f['seg_left'][:][:,:,::-1]
-            return left_rgb, np.zeros((1,1)), left_seg, np.zeros((1,1)), np.zeros((1,1))
+            left_semantic = h5f['seg_left'][:][:,:,2]
+            left_instance = h5f['seg_left'][:][:,:,0] * 256 + h5f['seg_left'][:][:,:,1]
+            return left_rgb, np.zeros((1,1)), left_semantic, left_instance, np.zeros((1,1)), np.zeros((1,1))
         else:
             right_rgb = self._read_jpg(h5f['rgb_right'][:])
-            left_seg = h5f['seg_left'][:][:,:,::-1]
+            left_semantic = h5f['seg_left'][:][:,:,2]
+            left_instance = h5f['seg_left'][:][:,:,0] * 256 + h5f['seg_left'][:][:,:,1]
             left_depth = h5f['depth_left'][:].astype(np.float32)
             right_depth = h5f['depth_right'][:].astype(np.float32)
-            return left_rgb, right_rgb, left_seg, left_depth, right_depth
+            return left_rgb, right_rgb, left_semantic, left_instance, left_depth, right_depth
     def _read_jpg(self, bytes_stream):
         return Image.open(io.BytesIO(bytes_stream))
     
@@ -93,11 +96,12 @@ class RGBSemanticDepthDataset(GeneratorBasedBuilder):
                     #print(path.split('/')[-1][:-3], all_splits[0])
                     continue
                 #print("added")
-                left_rgb, right_rgb, left_seg, left_depth, right_depth = self._h5_loader(file.read(), self.config.dataset_type)
+                left_rgb, right_rgb, left_semantic, left_instance, left_depth, right_depth = self._h5_loader(file.read(), self.config.dataset_type)
                 yield path, {
                     "left_rgb": left_rgb,
                     "right_rgb": right_rgb,
-                    "left_seg": left_seg,
+                    "left_semantic": left_semantic,
+                    "left_instance": left_instance,
                     "left_depth": left_depth,
                     "right_depth": right_depth,
                 }