depth generator moved from main repo to extra

modules/3d/misc/python/requirements.txt

@@ -1,3 +0,0 @@
-numpy>=1.17.4
-scipy>=1.3.3
-PIL>=7.0.0

modules/3d/misc/python/warp_test.py

@@ -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))
-