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import sys |
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sys.path.append("..") |
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import imageio |
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import numpy as np |
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import os |
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from plyfile import PlyData, PlyElement |
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from pycolmap import SceneManager |
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from scipy.ndimage.interpolation import zoom |
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def main(args): |
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suffix = ".photometric.bin" if args.photometric else ".geometric.bin" |
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image_file = os.path.join(args.dense_folder, "images", args.image_filename) |
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depth_file = os.path.join( |
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args.dense_folder, args.stereo_folder, "depth_maps", |
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args.image_filename + suffix) |
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if args.save_normals: |
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normals_file = os.path.join( |
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args.dense_folder, args.stereo_folder, "normal_maps", |
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args.image_filename + suffix) |
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scene_manager = SceneManager(os.path.join(args.dense_folder, "sparse")) |
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scene_manager.load_cameras() |
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scene_manager.load_images() |
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image_id, image = scene_manager.get_image_from_name(args.image_filename) |
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camera = scene_manager.cameras[image.camera_id] |
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rotation_camera_from_world = image.R() |
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camera_center = image.C() |
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image = imageio.imread(image_file) |
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with open(depth_file, "rb") as fid: |
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w = int("".join(iter(lambda: fid.read(1), "&"))) |
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h = int("".join(iter(lambda: fid.read(1), "&"))) |
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c = int("".join(iter(lambda: fid.read(1), "&"))) |
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depth_map = np.fromfile(fid, np.float32).reshape(h, w) |
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if (h, w) != image.shape[:2]: |
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depth_map = zoom( |
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depth_map, |
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(float(image.shape[0]) / h, float(image.shape[1]) / w), |
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order=0) |
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if args.save_normals: |
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with open(normals_file, "rb") as fid: |
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w = int("".join(iter(lambda: fid.read(1), "&"))) |
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h = int("".join(iter(lambda: fid.read(1), "&"))) |
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c = int("".join(iter(lambda: fid.read(1), "&"))) |
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normals = np.fromfile( |
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fid, np.float32).reshape(c, h, w).transpose([1, 2, 0]) |
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if (h, w) != image.shape[:2]: |
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normals = zoom( |
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normals, |
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(float(image.shape[0]) / h, float(image.shape[1]) / w, 1.), |
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order=0) |
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if args.min_depth is not None: |
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depth_map[depth_map < args.min_depth] = 0. |
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if args.max_depth is not None: |
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depth_map[depth_map > args.max_depth] = 0. |
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points3D = np.dstack(camera.get_image_grid() + [depth_map]) |
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points3D[:,:,:2] *= depth_map[:,:,np.newaxis] |
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points3D = points3D.astype(np.float32).reshape(-1, 3) |
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if args.save_normals: |
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normals = normals.astype(np.float32).reshape(-1, 3) |
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image = image.reshape(-1, 3) |
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if image.dtype != np.uint8: |
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if image.max() <= 1: |
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image = (image * 255.).astype(np.uint8) |
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else: |
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image = image.astype(np.uint8) |
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if args.world_space: |
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points3D = points3D.dot(rotation_camera_from_world) + camera_center |
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if args.save_normals: |
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normals = normals.dot(rotation_camera_from_world) |
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if args.save_normals: |
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vertices = np.rec.fromarrays( |
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tuple(points3D.T) + tuple(normals.T) + tuple(image.T), |
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names="x,y,z,nx,ny,nz,red,green,blue") |
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else: |
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vertices = np.rec.fromarrays( |
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tuple(points3D.T) + tuple(image.T), names="x,y,z,red,green,blue") |
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vertices = PlyElement.describe(vertices, "vertex") |
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PlyData([vertices]).write(args.output_filename) |
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if __name__ == "__main__": |
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import argparse |
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parser = argparse.ArgumentParser( |
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formatter_class=argparse.ArgumentDefaultsHelpFormatter) |
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parser.add_argument("dense_folder", type=str) |
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parser.add_argument("image_filename", type=str) |
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parser.add_argument("output_filename", type=str) |
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parser.add_argument( |
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"--photometric", default=False, action="store_true", |
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help="use photometric depthmap instead of geometric") |
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parser.add_argument( |
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"--world_space", default=False, action="store_true", |
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help="apply the camera->world extrinsic transformation to the result") |
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parser.add_argument( |
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"--save_normals", default=False, action="store_true", |
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help="load the estimated normal map and save as part of the PLY") |
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parser.add_argument( |
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"--stereo_folder", type=str, default="stereo", |
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help="folder in the dense workspace containing depth and normal maps") |
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parser.add_argument( |
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"--min_depth", type=float, default=None, |
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help="set pixels with depth less than this value to zero depth") |
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parser.add_argument( |
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"--max_depth", type=float, default=None, |
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help="set pixels with depth greater than this value to zero depth") |
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args = parser.parse_args() |
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main(args) |
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