# Copyright 2021 Huawei Technologies Co., Ltd
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
"""data util functions"""
import os
import pickle

import numpy as np
from PIL import Image, ImageFile


def read_pickle(pkl_path):
    """load pickle"""
    with open(pkl_path, 'rb') as f:
        return pickle.load(f)


def save_pickle(data, pkl_path):
    """save pickle"""
    os.system('mkdir -p {}'.format(os.path.dirname(pkl_path)))
    with open(pkl_path, 'wb') as f:
        pickle.dump(data, f)


def read_pose(rot_path, tra_path):
    """read pose"""
    rot = np.loadtxt(rot_path, skiprows=1)
    tra = np.loadtxt(tra_path, skiprows=1) / 100.
    return np.concatenate([rot, np.reshape(tra, newshape=[3, 1])], axis=-1)


def read_rgb_np(rgb_path):
    """read rgb numpy format"""
    ImageFile.LOAD_TRUNCATED_IMAGES = True
    img = Image.open(rgb_path).convert('RGB')
    img = np.array(img, np.uint8)
    return img


def read_mask_np(mask_path):
    """read mask numpy format"""
    mask = Image.open(mask_path)
    mask_seg = np.array(mask).astype(np.int32)
    return mask_seg

# Copyright 2021 Huawei Technologies Co., Ltd
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
"""data util functions"""
import os
import pickle

import numpy as np
from PIL import Image, ImageFile


def read_pickle(pkl_path):
    """load pickle"""
    with open(pkl_path, 'rb') as f:
        return pickle.load(f)


def save_pickle(data, pkl_path):
    """save pickle"""
    os.system('mkdir -p {}'.format(os.path.dirname(pkl_path)))
    with open(pkl_path, 'wb') as f:
        pickle.dump(data, f)


def read_pose(rot_path, tra_path):
    """read pose"""
    rot = np.loadtxt(rot_path, skiprows=1)
    tra = np.loadtxt(tra_path, skiprows=1) / 100.
    return np.concatenate([rot, np.reshape(tra, newshape=[3, 1])], axis=-1)


def read_rgb_np(rgb_path):
    """read rgb numpy format"""
    ImageFile.LOAD_TRUNCATED_IMAGES = True
    img = Image.open(rgb_path).convert('RGB')
    img = np.array(img, np.uint8)
    return img


def read_mask_np(mask_path):
    """read mask numpy format"""
    mask = Image.open(mask_path)
    mask_seg = np.array(mask).astype(np.int32)
    return mask_seg

# Copyright 2021 Huawei Technologies Co., Ltd # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # ============================================================================ data util functions load pickle save pickle read pose read rgb numpy format read mask numpy format