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write_depthmap_to_ply.py
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import sys
sys.path.append("..")
import imageio
import numpy as np
import os
from plyfile import PlyData, PlyElement
from pycolmap import SceneManager
from scipy.ndimage.interpolation import zoom
#-------------------------------------------------------------------------------
def main(args):
suffix = ".photometric.bin" if args.photometric else ".geometric.bin"
image_file = os.path.join(args.dense_folder, "images", args.image_filename)
depth_file = os.path.join(
args.dense_folder, args.stereo_folder, "depth_maps",
args.image_filename + suffix)
if args.save_normals:
normals_file = os.path.join(
args.dense_folder, args.stereo_folder, "normal_maps",
args.image_filename + suffix)
# load camera intrinsics from the COLMAP reconstruction
scene_manager = SceneManager(os.path.join(args.dense_folder, "sparse"))
scene_manager.load_cameras()
scene_manager.load_images()
image_id, image = scene_manager.get_image_from_name(args.image_filename)
camera = scene_manager.cameras[image.camera_id]
rotation_camera_from_world = image.R()
camera_center = image.C()
# load image, depth map, and normal map
image = imageio.imread(image_file)
with open(depth_file, "rb") as fid:
w = int("".join(iter(lambda: fid.read(1), "&")))
h = int("".join(iter(lambda: fid.read(1), "&")))
c = int("".join(iter(lambda: fid.read(1), "&")))
depth_map = np.fromfile(fid, np.float32).reshape(h, w)
if (h, w) != image.shape[:2]:
depth_map = zoom(
depth_map,
(float(image.shape[0]) / h, float(image.shape[1]) / w),
order=0)
if args.save_normals:
with open(normals_file, "rb") as fid:
w = int("".join(iter(lambda: fid.read(1), "&")))
h = int("".join(iter(lambda: fid.read(1), "&")))
c = int("".join(iter(lambda: fid.read(1), "&")))
normals = np.fromfile(
fid, np.float32).reshape(c, h, w).transpose([1, 2, 0])
if (h, w) != image.shape[:2]:
normals = zoom(
normals,
(float(image.shape[0]) / h, float(image.shape[1]) / w, 1.),
order=0)
if args.min_depth is not None:
depth_map[depth_map < args.min_depth] = 0.
if args.max_depth is not None:
depth_map[depth_map > args.max_depth] = 0.
# create 3D points
#depth_map = np.minimum(depth_map, 100.)
points3D = np.dstack(camera.get_image_grid() + [depth_map])
points3D[:,:,:2] *= depth_map[:,:,np.newaxis]
# save
points3D = points3D.astype(np.float32).reshape(-1, 3)
if args.save_normals:
normals = normals.astype(np.float32).reshape(-1, 3)
image = image.reshape(-1, 3)
if image.dtype != np.uint8:
if image.max() <= 1:
image = (image * 255.).astype(np.uint8)
else:
image = image.astype(np.uint8)
if args.world_space:
points3D = points3D.dot(rotation_camera_from_world) + camera_center
if args.save_normals:
normals = normals.dot(rotation_camera_from_world)
if args.save_normals:
vertices = np.rec.fromarrays(
tuple(points3D.T) + tuple(normals.T) + tuple(image.T),
names="x,y,z,nx,ny,nz,red,green,blue")
else:
vertices = np.rec.fromarrays(
tuple(points3D.T) + tuple(image.T), names="x,y,z,red,green,blue")
vertices = PlyElement.describe(vertices, "vertex")
PlyData([vertices]).write(args.output_filename)
#-------------------------------------------------------------------------------
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("dense_folder", type=str)
parser.add_argument("image_filename", type=str)
parser.add_argument("output_filename", type=str)
parser.add_argument(
"--photometric", default=False, action="store_true",
help="use photometric depthmap instead of geometric")
parser.add_argument(
"--world_space", default=False, action="store_true",
help="apply the camera->world extrinsic transformation to the result")
parser.add_argument(
"--save_normals", default=False, action="store_true",
help="load the estimated normal map and save as part of the PLY")
parser.add_argument(
"--stereo_folder", type=str, default="stereo",
help="folder in the dense workspace containing depth and normal maps")
parser.add_argument(
"--min_depth", type=float, default=None,
help="set pixels with depth less than this value to zero depth")
parser.add_argument(
"--max_depth", type=float, default=None,
help="set pixels with depth greater than this value to zero depth")
args = parser.parse_args()
main(args)