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fadb92b | 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 | import os
import cv2
import numpy as np
from plyfile import PlyData
def read_scene_pc(file_path):
with open(file_path, "rb") as f:
plydata = PlyData.read(f)
dtype = plydata["vertex"].data.dtype
print("dtype of file{}: {}".format(file_path, dtype))
points_data = np.array(plydata["vertex"].data.tolist())
return points_data
def is_clockwise(points):
# points is a list of 2d points.
assert len(points) > 0
s = 0.0
for p1, p2 in zip(points, points[1:] + [points[0]]):
s += (p2[0] - p1[0]) * (p2[1] + p1[1])
return s > 0.0
def resort_corners(corners):
# re-find the starting point and sort corners clockwisely
x_y_square_sum = corners[:, 0] ** 2 + corners[:, 1] ** 2
start_corner_idx = np.argmin(x_y_square_sum)
corners_sorted = np.concatenate([corners[start_corner_idx:], corners[:start_corner_idx]])
## sort points clockwise
if not is_clockwise(corners_sorted[:, :2].tolist()):
corners_sorted[1:] = np.flip(corners_sorted[1:], 0)
return corners
def export_density(density_map, out_folder, scene_id):
density_path = os.path.join(out_folder, scene_id + ".png")
density_uint8 = (density_map * 255).astype(np.uint8)
cv2.imwrite(density_path, density_uint8)
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