Readers for depths and point clouds

limap.base.depth_reader_base module

class limap.base.depth_reader_base.BaseDepthReader(filename)

Bases: object

Base class for the depth reader storing the filename and potentially other information

read(filename)

Virtual method - Read depth from a filename

Parameters:

filename (str) – The filename of the depth image

Returns:

The array for the depth map

Return type:

depth (np.array of shape (H, W))

read_depth(img_hw=None)

Read depth using the read(self, filename) function

Parameters:

img_hw (pair of int, optional) – The height and width for the read depth. By default we keep the original resolution of the file

Returns:

The array for the depth map

Return type:

depth (np.array of shape (H, W))

limap.base.p3d_reader_base module

class limap.base.p3d_reader_base.BaseP3DReader(filename)

read(filename)

Virtual method - Read a point cloud from a filename

Parameters:

filename (str) – The filename of the depth image

Returns:

The array for the 3D points

Return type:

point cloud (np.array of shape (N, 3))

read_p3ds()

Read a point cloud using the read(self, filename) function

Returns:

The array for the 3D points

Return type:

point cloud (np.array of shape (N, 3))