File size: 2,855 Bytes
3ef1661 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 |
import numpy as np
import torch
from plyfile import PlyData, PlyElement
import cv2
def get_pcd_base(H, W, u0, v0, focal_length):
x_row = np.arange(0, W)
x = np.tile(x_row, (H, 1))
x = x.astype(np.float32)
u_m_u0 = x - u0
y_col = np.arange(0, H) # y_col = np.arange(0, height)
y = np.tile(y_col, (W, 1)).T
y = y.astype(np.float32)
v_m_v0 = y - v0
x = u_m_u0 / focal_length
y = v_m_v0 / focal_length
z = np.ones_like(x)
pw = np.stack([x, y, z], 2) # [h, w, c]
return pw
def reconstruct_pcd(depth, focal_length, u0, v0, pcd_base=None, mask=None):
if type(depth) == torch.__name__:
depth = depth.cpu().numpy().squeeze()
depth = cv2.medianBlur(depth, 5)
if pcd_base is None:
H, W = depth.shape
pcd_base = get_pcd_base(H, W, u0, v0, focal_length)
pcd = depth[:, :, None] * pcd_base
if mask:
pcd[mask] = 0
return pcd
def save_point_cloud(pcd, rgb, filename, binary=True):
"""Save an RGB point cloud as a PLY file.
:paras
@pcd: Nx3 matrix, the XYZ coordinates
@rgb: NX3 matrix, the rgb colors for each 3D point
"""
assert pcd.shape[0] == rgb.shape[0]
if rgb is None:
gray_concat = np.tile(np.array([128], dtype=np.uint8), (pcd.shape[0], 3))
points_3d = np.hstack((pcd, gray_concat))
else:
points_3d = np.hstack((pcd, rgb))
python_types = (float, float, float, int, int, int)
npy_types = [('x', 'f4'), ('y', 'f4'), ('z', 'f4'), ('red', 'u1'), ('green', 'u1'),
('blue', 'u1')]
if binary is True:
# Format into NumPy structured array
vertices = []
for row_idx in range(points_3d.shape[0]):
cur_point = points_3d[row_idx]
vertices.append(tuple(dtype(point) for dtype, point in zip(python_types, cur_point)))
vertices_array = np.array(vertices, dtype=npy_types)
el = PlyElement.describe(vertices_array, 'vertex')
# Write
PlyData([el]).write(filename)
else:
x = np.squeeze(points_3d[:, 0])
y = np.squeeze(points_3d[:, 1])
z = np.squeeze(points_3d[:, 2])
r = np.squeeze(points_3d[:, 3])
g = np.squeeze(points_3d[:, 4])
b = np.squeeze(points_3d[:, 5])
ply_head = 'ply\n' \
'format ascii 1.0\n' \
'element vertex %d\n' \
'property float x\n' \
'property float y\n' \
'property float z\n' \
'property uchar red\n' \
'property uchar green\n' \
'property uchar blue\n' \
'end_header' % r.shape[0]
# ---- Save ply data to disk
np.savetxt(filename, np.column_stack((x, y, z, r, g, b)), fmt="%d %d %d %d %d %d", header=ply_head, comments='')
|