| import os |
| os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' |
| import sys |
| from pathlib import Path |
| if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: |
| sys.path.insert(0, _package_root) |
|
|
| import click |
|
|
|
|
| @click.command() |
| @click.argument('folder_or_path', type=click.Path(exists=True)) |
| @click.option('--output', '-o', 'output_folder', type=click.Path(), help='Path to output folder') |
| @click.option('--max_depth', '-m', type=float, default=float('inf'), help='max depth') |
| @click.option('--fov', type=float, default=None, help='field of view in degrees') |
| @click.option('--show', 'show', is_flag=True, help='show point cloud') |
| @click.option('--depth', 'depth_filename', type=str, default='depth.png', help='depth image file name') |
| @click.option('--ply', 'save_ply', is_flag=True, help='save point cloud as PLY file') |
| @click.option('--depth_vis', 'save_depth_vis', is_flag=True, help='save depth image') |
| @click.option('--inf', 'inf_mask', is_flag=True, help='use infinity mask') |
| @click.option('--version', 'version', type=str, default='v3', help='version of rgbd data') |
| def main( |
| folder_or_path: str, |
| output_folder: str, |
| max_depth: float, |
| fov: float, |
| depth_filename: str, |
| show: bool, |
| save_ply: bool, |
| save_depth_vis: bool, |
| inf_mask: bool, |
| version: str |
| ): |
| |
| import cv2 |
| import numpy as np |
| import utils3d |
| from tqdm import tqdm |
| import trimesh |
|
|
| from moge.utils.io import read_image, read_depth, read_meta |
| from moge.utils.vis import colorize_depth, colorize_normal |
|
|
| filepaths = sorted(p.parent for p in Path(folder_or_path).rglob('meta.json')) |
|
|
| for filepath in tqdm(filepaths): |
| image = read_image(Path(filepath, 'image.jpg')) |
| depth, unit = read_depth(Path(filepath, depth_filename)) |
| meta = read_meta(Path(filepath,'meta.json')) |
| depth_mask = np.isfinite(depth) |
| depth_mask_inf = (depth == np.inf) |
| intrinsics = np.array(meta['intrinsics']) |
|
|
| extrinsics = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]], dtype=float) |
| verts = utils3d.numpy.unproject_cv(utils3d.numpy.image_uv(*image.shape[:2]), depth, extrinsics=extrinsics, intrinsics=intrinsics) |
| |
| depth_mask_ply = depth_mask & (depth < depth[depth_mask].min() * max_depth) |
| point_cloud = trimesh.PointCloud(verts[depth_mask_ply], image[depth_mask_ply] / 255) |
| |
| if show: |
| point_cloud.show() |
|
|
| if output_folder is None: |
| output_path = filepath |
| else: |
| output_path = Path(output_folder, filepath.name) |
| output_path.mkdir(exist_ok=True, parents=True) |
|
|
| if inf_mask: |
| depth = np.where(depth_mask_inf, np.inf, depth) |
| depth_mask = depth_mask | depth_mask_inf |
|
|
| if save_depth_vis: |
| p = output_path.joinpath('depth_vis.png') |
| cv2.imwrite(str(p), cv2.cvtColor(colorize_depth(depth, depth_mask), cv2.COLOR_RGB2BGR)) |
| print(f"{p}") |
|
|
| if save_ply: |
| p = output_path.joinpath('pointcloud.ply') |
| point_cloud.export(p) |
| print(f"{p}") |
|
|
| if __name__ == '__main__': |
| main() |
