from PIL import Image
import pandas as pd
import numpy as np
from open3d import read_point_cloud, draw_geometries
import time
class point_cloud_generator():
def __init__(self, rgb_file, depth_file, pc_file, focal_length, scalingfactor):
self.rgb_file = rgb_file
self.depth_file = depth_file
self.pc_file = pc_file
self.focal_length = focal_length
self.scalingfactor = scalingfactor
self.rgb = Image.open(rgb_file)
self.depth = Image.open(depth_file).convert('I')
self.width = self.rgb.size[0]
self.height = self.rgb.size[1]
def calculate(self):
t1 = time.time()
depth = np.asarray(self.depth).T
self.Z = depth / self.scalingfactor
X = np.zeros((self.width, self.height))
Y = np.zeros((self.width, self.height))
for i in range(self.width):
X[i, :] = np.full(X.shape[1], i)
self.X = ((X - self.width / 2) * self.Z) / self.focal_length
for i in range(self.height):
Y[:, i] = np.full(Y.shape[0], i)
self.Y = ((Y - self.height / 2) * self.Z) / self.focal_length
df = np.zeros((6, self.width * self.height))
df[0] = self.X.T.reshape(-1)
df[1] = -self.Y.T.reshape(-1)
df[2] = -self.Z.T.reshape(-1)
img = np.array(self.rgb)
df[3] = img[:, :, 0:1].reshape(-1)
df[4] = img[:, :, 1:2].reshape(-1)
df[5] = img[:, :, 2:3].reshape(-1)
self.df = df
t2 = time.time()
print('calcualte 3d point cloud Done.', t2 - t1)
def write_ply(self):
t1 = time.time()
float_formatter = lambda x: "%.4f" % x
points = []
for i in self.df.T:
points.append("{} {} {} {} {} {} 0\n".format
(float_formatter(i[0]), float_formatter(i[1]), float_formatter(i[2]),
int(i[3]), int(i[4]), int(i[5])))
file = open(self.pc_file, "w")
file.write('''ply
format ascii 1.0
element vertex %d
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
property uchar alpha
end_header
%s
''' % (len(points), "".join(points)))
file.close()
t2 = time.time()
print("Write into .ply file Done.", t2 - t1)
def show_point_cloud(self):
pcd = read_point_cloud(self.pc_file)
draw_geometries([pcd])
a = point_cloud_generator('01446_colors.png', '01446_depth.png', '01446_3d.ply',
focal_length=300, scalingfactor=1000)
a.calculate()
a.write_ply()
a.show_point_cloud()
df = a.df
np.save('pc.npy', df)
3D 重建
最新推荐文章于 2024-09-14 19:14:00 发布