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import numpy as np
import matplotlib.pyplot as plt
import open3d as o3d
import os
import cv2
def depth2cloud(path_rgb, path_depth, intrinsics):
FX_DEPTH, FY_DEPTH, CX_DEPTH, CY_DEPTH = intrinsics
# Read depth and color image:
rgb_image = cv2.imread(path_rgb, cv2.IMREAD_UNCHANGED)
rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB)
# depth_image = cv2.imread(path_depth, cv2.IMREAD_UNCHANGED)
depth_image = cv2.imread(path_depth, cv2.IMREAD_ANYDEPTH).astype(np.float32) # /100.0
print(f"type(depth_image):{type(depth_image)}")
print(f"type(rgb_image):{type(rgb_image)}")
print(f"depth_image.shape:{depth_image.shape}")
print(f"rgb_image.shape:{rgb_image.shape}")
print(f"depth_image.dtype:{depth_image.dtype}")
print(f"rgb_image.dtype:{rgb_image.dtype}")
depth_image = depth_image.astype(np.int32)
rgb_image = rgb_image.astype(np.uint8)
color = o3d.geometry.Image(rgb_image)
depth = o3d.geometry.Image(depth_image.astype(np.uint16))
# Display depth and grayscale image:
fig, axs = plt.subplots(1, 2)
axs[0].imshow(depth, cmap="gray")
axs[0].set_title("Depth image")
axs[1].imshow(color)
axs[1].set_title("RGB image")
print(np.min(depth_image), np.max(depth_image))
# plt.show()
# compute point cloud:
# Both images has the same resolution
height, width = depth_image.shape
pinhole_camera_intrinsic = o3d.camera.PinholeCameraIntrinsic(
width, height, FX_DEPTH, FY_DEPTH, CX_DEPTH, CY_DEPTH
)
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
color, depth, convert_rgb_to_intensity=False
)
pcd_o3d = o3d.geometry.PointCloud.create_from_rgbd_image(
rgbd, pinhole_camera_intrinsic
)
# Convert to Open3D.PointCLoud:
pcd_o3d.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
o3d.visualization.draw_geometries([pcd_o3d])
o3d.io.write_point_cloud("test.ply", pcd_o3d)
if __name__ == "__main__":
# Load the data
path_rgb = "o1recon.png"
path_depth = "o1spiket.png"
path_depth = "o1ours.png"
K = np.array([
[725, 0, 620.5],
[ 0, 725, 187],
[ 0, 0, 1]
])
intrinsics = [725, 725, 620.5, 187]
depth2cloud(path_rgb, path_depth, intrinsics)
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