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pointcloud.py
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pointcloud.py
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import flow_IO
import flow_utils
import numpy as np
import open3d as o3d
from PIL import Image
import os
SPRING_BASELINE = 0.065
def get_depth(disp1, intrinsics, baseline=SPRING_BASELINE):
"""
get depth from reference frame disparity and camera intrinsics
"""
return intrinsics[0] * baseline / disp1
def pointcloud_visualization(disp1, img, intrinsics):
"""
visualize Spring data as point cloud
"""
disp1 = disp1[::2,::2]
depth = get_depth(disp1, intrinsics)
points3D = flow_utils.inv_project(depth, intrinsics)
points3D = points3D.reshape((-1,3))
img = img.reshape((-1,3))
valid = ~np.isnan(points3D[:,0]) & ~np.isnan(points3D[:,1]) & ~np.isnan(points3D[:,2]) & ~np.isinf(points3D[:,0]) & ~np.isinf(points3D[:,1]) & ~np.isinf(points3D[:,2])
points3D = points3D[valid]
img = img[valid]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points3D)
pcd.colors = o3d.utility.Vector3dVector(img)
vis = o3d.visualization.Visualizer()
vis.create_window(window_name='Spring', width=1920, height=1080)
vis.add_geometry(pcd)
opt = vis.get_render_option()
opt.background_color = np.asarray([0.5, 0.5, 0.5])
opt.point_size = 2
# set default camera
ctr = vis.get_view_control()
camera_params = ctr.convert_to_pinhole_camera_parameters()
int_matrix = camera_params.intrinsic.intrinsic_matrix.copy()
int_matrix[0,0] = intrinsics[0]
int_matrix[1,1] = intrinsics[1]
camera_params.intrinsic.intrinsic_matrix = int_matrix
camera_params.extrinsic = np.eye(4)
ctr.convert_from_pinhole_camera_parameters(camera_params)
vis.run()
vis.destroy_window()
if __name__ == "__main__":
seq = "0004"
frame = 44
spring_path = os.getenv("SPRING_DIR", "/data/spring")
print("looking for Spring dataset in", spring_path)
disp1_path = os.path.join(spring_path, "train", seq, "disp1_left", f"disp1_left_{frame:04d}.dsp5")
intrinsics_path = os.path.join(spring_path, "train", seq, "cam_data", "intrinsics.txt")
img_path = os.path.join(spring_path, "train", seq, "frame_left", f"frame_left_{frame:04d}.png")
disp1 = flow_IO.readDispFile(disp1_path)
intrinsics = np.loadtxt(intrinsics_path)[frame - 1]
img = np.asarray(Image.open(img_path)) / 255.0
pointcloud_visualization(disp1, img, intrinsics)