| | """ |
| | @author: Zhigang Jiang |
| | @time: 2022/05/25 |
| | @description: reference: https://github.com/sunset1995/PanoPlane360/blob/main/vis_planes.py |
| | """ |
| | import open3d |
| | import numpy as np |
| | from utils.conversion import pixel2lonlat |
| |
|
| |
|
| | def create_3d_obj(img, depth, save_path=None, mesh=True, mesh_show_back_face=False, show=False): |
| | assert img.shape[0] == depth.shape[0], "" |
| | h = img.shape[0] |
| | w = img.shape[1] |
| | |
| | lon = pixel2lonlat(np.array(range(w)), w=w, axis=0)[None].repeat(h, axis=0) |
| | lat = pixel2lonlat(np.array(range(h)), h=h, axis=1)[..., None].repeat(w, axis=1) |
| |
|
| | z = depth * np.sin(lat) |
| | x = depth * np.cos(lat) * np.cos(lon) |
| | y = depth * np.cos(lat) * np.sin(lon) |
| | pts_xyz = np.stack([x, -z, y], -1).reshape(-1, 3) |
| | pts_rgb = img.reshape(-1, 3) |
| |
|
| | if mesh: |
| | pid = np.arange(len(pts_xyz)).reshape(h, w) |
| | faces = np.concatenate([ |
| | np.stack([ |
| | pid[:-1, :-1], pid[1:, :-1], np.roll(pid, -1, axis=1)[:-1, :-1], |
| | ], -1), |
| | np.stack([ |
| | pid[1:, :-1], np.roll(pid, -1, axis=1)[1:, :-1], np.roll(pid, -1, axis=1)[:-1, :-1], |
| | ], -1) |
| | ]).reshape(-1, 3).tolist() |
| | scene = open3d.geometry.TriangleMesh() |
| | scene.vertices = open3d.utility.Vector3dVector(pts_xyz) |
| | scene.vertex_colors = open3d.utility.Vector3dVector(pts_rgb) |
| | scene.triangles = open3d.utility.Vector3iVector(faces) |
| |
|
| | else: |
| | scene = open3d.geometry.PointCloud() |
| | scene.points = open3d.utility.Vector3dVector(pts_xyz) |
| | scene.colors = open3d.utility.Vector3dVector(pts_rgb) |
| | if save_path: |
| | open3d.io.write_triangle_mesh(save_path, scene, write_triangle_uvs=True) |
| | if show: |
| | open3d.visualization.draw_geometries([scene], mesh_show_back_face=mesh_show_back_face) |
| |
|
| |
|
| | if __name__ == '__main__': |
| | from dataset.mp3d_dataset import MP3DDataset |
| | from utils.boundary import depth2boundaries, layout2depth |
| | from visualization.boundary import draw_boundaries |
| |
|
| | mp3d_dataset = MP3DDataset(root_dir='../src/dataset/mp3d', mode='train', for_test_index=10, patch_num=1024) |
| | gt = mp3d_dataset.__getitem__(3) |
| |
|
| | boundary_list = depth2boundaries(gt['ratio'], gt['depth'], step=None) |
| | pano_img = draw_boundaries(gt['image'].transpose(1, 2, 0), boundary_list=boundary_list, show=True) |
| | layout_depth = layout2depth(boundary_list, show=False) |
| | create_3d_obj(gt['image'].transpose(1, 2, 0), layout_depth, save_path=f"../src/output/{gt['id']}_3d.gltf", |
| | mesh=True) |
| |
|
