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airsim/__init__.py

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+from .client import *
+from .utils import *
+from .types import *
+
+__version__ = "1.8.1"

airsim/pfm.py

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+import numpy as np
+import matplotlib.pyplot as plt
+import re
+import sys
+import pdb
+
+
+def read_pfm(file):
+    """ Read a pfm file """
+    file = open(file, 'rb')
+
+    color = None
+    width = None
+    height = None
+    scale = None
+    endian = None
+
+    header = file.readline().rstrip()
+    header = str(bytes.decode(header, encoding='utf-8'))
+    if header == 'PF':
+        color = True
+    elif header == 'Pf':
+        color = False
+    else:
+        raise Exception('Not a PFM file.')
+
+    pattern = r'^(\d+)\s(\d+)\s$'
+    temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
+    dim_match = re.match(pattern, temp_str)
+    if dim_match:
+        width, height = map(int, dim_match.groups())
+    else:
+        temp_str += str(bytes.decode(file.readline(), encoding='utf-8'))
+        dim_match = re.match(pattern, temp_str)
+        if dim_match:
+            width, height = map(int, dim_match.groups())
+        else:
+            raise Exception('Malformed PFM header: width, height cannot be found')
+
+    scale = float(file.readline().rstrip())
+    if scale < 0: # little-endian
+        endian = '<'
+        scale = -scale
+    else:
+        endian = '>' # big-endian
+
+    data = np.fromfile(file, endian + 'f')
+    shape = (height, width, 3) if color else (height, width)
+
+    data = np.reshape(data, shape)
+    # DEY: I don't know why this was there.
+    file.close()
+
+    return data, scale
+
+
+def write_pfm(file, image, scale=1):
+    """ Write a pfm file """
+    file = open(file, 'wb')
+
+    color = None
+
+    if image.dtype.name != 'float32':
+        raise Exception('Image dtype must be float32.')
+
+    if len(image.shape) == 3 and image.shape[2] == 3: # color image
+        color = True
+    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale
+        color = False
+    else:
+        raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
+
+    file.write(bytes('PF\n', 'UTF-8') if color else bytes('Pf\n', 'UTF-8'))
+    temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
+    file.write(bytes(temp_str, 'UTF-8'))
+
+    endian = image.dtype.byteorder
+
+    if endian == '<' or endian == '=' and sys.byteorder == 'little':
+        scale = -scale
+
+    temp_str = '%f\n' % scale
+    file.write(bytes(temp_str, 'UTF-8'))
+
+    image.tofile(file)