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118 lines
5.0 KiB
118 lines
5.0 KiB
3 years ago
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#!/usr/bin/env python
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# Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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# its contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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import os
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import collections
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import numpy as np
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import pandas as pd
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from pyntcloud import PyntCloud
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from read_write_model import read_next_bytes, write_next_bytes
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MeshPoint = collections.namedtuple(
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"MeshingPoint", ["position", "color", "normal", "num_visible_images", "visible_image_idxs"])
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def read_fused(path_to_fused_ply, path_to_fused_ply_vis):
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"""
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see: src/mvs/meshing.cc
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void ReadDenseReconstruction(const std::string& path
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"""
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assert os.path.isfile(path_to_fused_ply)
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assert os.path.isfile(path_to_fused_ply_vis)
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point_cloud = PyntCloud.from_file(path_to_fused_ply)
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xyz_arr = point_cloud.points.loc[:, ["x", "y", "z"]].to_numpy()
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normal_arr = point_cloud.points.loc[:, ["nx", "ny", "nz"]].to_numpy()
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color_arr = point_cloud.points.loc[:, ["red", "green", "blue"]].to_numpy()
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with open(path_to_fused_ply_vis, "rb") as fid:
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num_points = read_next_bytes(fid, 8, "Q")[0]
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mesh_points = [0] * num_points
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for i in range(num_points):
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num_visible_images = read_next_bytes(fid, 4, "I")[0]
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visible_image_idxs = read_next_bytes(
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fid, num_bytes=4*num_visible_images,
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format_char_sequence="I"*num_visible_images)
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visible_image_idxs = np.array(tuple(map(int, visible_image_idxs)))
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mesh_point = MeshPoint(
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position=xyz_arr[i],
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color=color_arr[i],
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normal=normal_arr[i],
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num_visible_images=num_visible_images,
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visible_image_idxs=visible_image_idxs)
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mesh_points[i] = mesh_point
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return mesh_points
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def write_fused_ply(mesh_points, path_to_fused_ply):
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columns = ["x", "y", "z", "nx", "ny", "nz", "red", "green", "blue"]
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points_data_frame = pd.DataFrame(
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np.zeros((len(mesh_points), len(columns))),
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columns=columns)
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positions = np.asarray([point.position for point in mesh_points])
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normals = np.asarray([point.normal for point in mesh_points])
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colors = np.asarray([point.color for point in mesh_points])
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points_data_frame.loc[:, ["x", "y", "z"]] = positions
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points_data_frame.loc[:, ["nx", "ny", "nz"]] = normals
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points_data_frame.loc[:, ["red", "green", "blue"]] = colors
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points_data_frame = points_data_frame.astype({
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"x": positions.dtype, "y": positions.dtype, "z": positions.dtype,
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"red": colors.dtype, "green": colors.dtype, "blue": colors.dtype,
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"nx": normals.dtype, "ny": normals.dtype, "nz": normals.dtype})
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point_cloud = PyntCloud(points_data_frame)
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point_cloud.to_file(path_to_fused_ply)
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def write_fused_ply_vis(mesh_points, path_to_fused_ply_vis):
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"""
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see: src/mvs/fusion.cc
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void WritePointsVisibility(const std::string& path, const std::vector<std::vector<int>>& points_visibility)
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"""
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with open(path_to_fused_ply_vis, "wb") as fid:
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write_next_bytes(fid, len(mesh_points), "Q")
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for point in mesh_points:
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write_next_bytes(fid, point.num_visible_images, "I")
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format_char_sequence = "I"*point.num_visible_images
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write_next_bytes(fid, [*point.visible_image_idxs], format_char_sequence)
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def write_fused(points, path_to_fused_ply, path_to_fused_ply_vis):
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write_fused_ply(points, path_to_fused_ply)
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write_fused_ply_vis(points, path_to_fused_ply_vis)
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