Upload main.py

main.py

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+import matplotlib
+matplotlib.use('TkAgg')  # Use TkAgg backend for better compatibility
+import matplotlib.pyplot as plt
+from matplotlib import pyplot as plt
+from PIL import Image
+import torch
+from transformers import GLPNForDepthEstimation, GLPNImageProcessor
+
+
+feature_extractor = GLPNImageProcessor.from_pretrained("vinvino02/glpn-nyu")
+model = GLPNForDepthEstimation.from_pretrained("vinvino02/glpn-nyu")
+
+image=Image.open(r"/Users/priyadharshinirameskumar/Desktop/venv/ROOM.jpg")
+new_height=480 if image.height > 480 else image.height
+new_height -=(new_height % 32)
+new_width =int(new_height * image.width / image.height)
+diff =new_width % 32
+
+new_width=new_width - diff if diff <16 else new_width + (32 - diff)
+new_size = (new_width,new_height)
+image = image.resize(new_size)
+
+inputs = feature_extractor(images=image, return_tensors="pt")
+
+
+with torch.no_grad():
+    outputs = model(**inputs)
+    predicted_depth = outputs.predicted_depth
+    
+pad = 16
+output = predicted_depth.squeeze().cpu().numpy() * 1000.0
+output = output[pad:-pad, pad:-pad]
+image = image.crop((pad, pad, image.width - pad, image.height - pad))
+
+fig,ax = plt.subplots(1,2)
+ax[0].imshow(image)
+ax[0].tick_params(left=False,bottom=False,labelleft=False,labelbottom=False)
+ax[1].imshow(output,cmap='plasma')
+ax[1].tick_params(left=False,bottom=False,labelleft=False,labelbottom=False)
+plt.tight_layout()
+plt.pause(5)
+
+import numpy as np
+import open3d as o3d
+
+width, height = image.size
+
+depth_image = (output *255 / np.max(output)).astype(np.uint8)
+image = np.array(image)
+
+depth_o3d = o3d.geometry.Image(depth_image)
+image_0ed = o3d.geometry.Image(image)
+rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(image_0ed, depth_o3d, convert_rgb_to_intensity=False)
+
+camera_intrinstic = o3d.camera.PinholeCameraIntrinsic()
+camera_intrinstic.set_intrinsics(width, height, 500, 500, width / 2, height / 2)
+
+pcd_raw = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, camera_intrinstic)
+o3d.visualization.draw_geometries([pcd_raw])
+
+
+cl,ind = pcd_raw.remove_statistical_outlier(nb_neighbors=20,std_ratio=20.0)
+pcd=pcd_raw.select_by_index(ind)
+
+pcd.estimate_normals()
+pcd.orient_normals_to_align_with_direction()
+
+o3d.visualization.draw_geometries([pcd])
+
+
+mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd,depth=10,n_threads=1)[0]
+
+rotation = mesh.get_rotation_matrix_from_xyz((np.pi,0,0))
+mesh.rotate(rotation,center=(0,0,0))
+
+o3d.visualization.draw_geometrics([mesh], mesh_show_back_face=True)
+
+# mesh_uniform = mesh.paint_uniform_color([0.9,0.8,0.9])
+# mesh_uniform.compute_vertex_normals()
+# o3d.visualization.draw_geometries([mesh_uniform], mesh_show_back_face=True)
+
+o3d.io.write_triangle_mesh("mesh.ply",mesh)
+
+