From 94e5ae6043216623b24e29557fdde2079435e6db Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Thu, 30 Jun 2022 00:00:47 +0200 Subject: [PATCH] depth generator moved from main repo to extra --- modules/3d/misc/python/requirements.txt | 3 - modules/3d/misc/python/warp_test.py | 111 ------------------------ 2 files changed, 114 deletions(-) delete mode 100644 modules/3d/misc/python/requirements.txt delete mode 100644 modules/3d/misc/python/warp_test.py diff --git a/modules/3d/misc/python/requirements.txt b/modules/3d/misc/python/requirements.txt deleted file mode 100644 index a4567695c0..0000000000 --- a/modules/3d/misc/python/requirements.txt +++ /dev/null @@ -1,3 +0,0 @@ -numpy>=1.17.4 -scipy>=1.3.3 -PIL>=7.0.0 diff --git a/modules/3d/misc/python/warp_test.py b/modules/3d/misc/python/warp_test.py deleted file mode 100644 index b8dda4fd5f..0000000000 --- a/modules/3d/misc/python/warp_test.py +++ /dev/null @@ -1,111 +0,0 @@ -import numpy as np -from scipy.spatial.transform import Rotation -from PIL import Image -import os - -depthFactor = 5000 -psize = (640, 480) -fx = 525.0 -fy = 525.0 -cx = psize[0]/2-0.5 -cy = psize[1]/2-0.5 -K = np.array([[fx, 0, cx], - [ 0, fy, cy], - [ 0, 0, 1]]) - -# some random transform -rmat = Rotation.from_rotvec(np.array([0.1, 0.2, 0.3])).as_dcm() -tmat = np.array([[-0.04, 0.05, 0.6]]).T -rtmat = np.vstack((np.hstack((rmat, tmat)), np.array([[0, 0, 0, 1]]))) - -testDataPath = os.getenv("OPENCV_TEST_DATA_PATH", default=None) -srcDepth = np.asarray(Image.open(testDataPath + "/cv/rgbd/depth.png")) -srcRgb = np.asarray(Image.open(testDataPath + "/cv/rgbd/rgb.png")) - -def reproject(image, df, K): - Kinv = np.linalg.inv(K) - xsz, ysz = image.shape[1], image.shape[0] - reprojected = np.zeros((ysz, xsz, 3)) - for y in range(ysz): - for x in range(xsz): - z = image[y, x]/df - - v = Kinv @ np.array([x*z, y*z, z]).T - - #xv = (x - cx)/fx * z - #yv = (y - cy)/fy * z - #zv = z - - reprojected[y, x, :] = v[:] - return reprojected - -def reprojectRtProject(image, K, depthFactor, rmat, tmat): - Kinv = np.linalg.inv(K) - xsz, ysz = image.shape[1], image.shape[0] - projected = np.zeros((ysz, xsz, 3)) - for y in range(ysz): - for x in range(xsz): - z = image[y, x]/depthFactor - - v = K @ (rmat @ Kinv @ np.array([x*z, y*z, z]).T + tmat[:, 0]) - - if z > 0: - projected[y, x, :] = v[:] - - return projected - -def reprojectRt(image, K, depthFactor, rmat, tmat): - Kinv = np.linalg.inv(K) - xsz, ysz = image.shape[1], image.shape[0] - rotated = np.zeros((ysz, xsz, 3)) - for y in range(ysz): - for x in range(xsz): - z = image[y, x]/depthFactor - - v = rmat @ Kinv @ np.array([x*z, y*z, z]).T + tmat[:, 0] - - rotated[y, x, :] = v[:] - - return rotated - -# put projected points on a depth map -def splat(projected, maxv, rgb): - xsz, ysz = projected.shape[1], projected.shape[0] - depth = np.full((ysz, xsz), maxv, np.float32) - colors = np.full((ysz, xsz, 3), 0, np.uint8) - for y in range(ysz): - for x in range(xsz): - p = projected[y, x, :] - z = p[2] - if z > 0: - u, v = int(p[0]/z), int(p[1]/z) - okuv = (u >= 0 and v >= 0 and u < xsz and v < ysz) - if okuv and depth[v, u] > z: - depth[v, u] = z - colors[v, u, :] = rgb[y, x, :] - return depth, colors - -maxv = depthFactor -dstDepth, dstRgb = splat(reprojectRtProject(srcDepth, K, depthFactor, rmat, tmat), maxv, srcRgb) -dstDepth[dstDepth >= maxv] = 0 -dstDepth = (dstDepth*depthFactor).astype(np.uint16) - -Image.fromarray(dstDepth).save(testDataPath + "/cv/rgbd/warpedDepth.png") -Image.fromarray(dstRgb ).save(testDataPath + "/cv/rgbd/warpedRgb.png") - -# debug -def outFile(path, ptsimg): - f = open(path, "w") - for y in range(ptsimg.shape[0]): - for x in range(ptsimg.shape[1]): - v = ptsimg[y, x, :] - if v[2] > 0: - f.write(f"v {v[0]} {v[1]} {v[2]}\n") - f.close() - -outObj = False -if outObj: - objdir = "/path/to/objdir/" - outFile(objdir + "reproj_rot_proj.obj", reproject(dstDepth, depthFactor, K)) - outFile(objdir + "rotated.obj", reprojectRt(srcDepth, K, depthFactor, rmat, tmat)) -