| import numpy as np |
| import torch |
| from plyfile import PlyData, PlyElement |
| import cv2 |
|
|
|
|
| def get_pcd_base(H, W, u0, v0, fx, fy): |
| 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 = np.tile(y_col, (W, 1)).T |
| y = y.astype(np.float32) |
| v_m_v0 = y - v0 |
|
|
| x = u_m_u0 / fx |
| y = v_m_v0 / fy |
| z = np.ones_like(x) |
| pw = np.stack([x, y, z], axis=2) |
| return pw |
|
|
|
|
| def reconstruct_pcd(depth, fx, fy, 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, fx, fy) |
| 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: |
| |
| 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') |
|
|
| |
| 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] |
| |
| np.savetxt(filename, np.column_stack[x, y, z, r, g, b], fmt='%f %f %f %d %d %d', header=ply_head, comments='') |
