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#!/usr/bin/env python
# Copyright (c) 2023, ETH Zurich and UNC Chapel Hill.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
# its contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import argparse
import numpy as np
import os
import struct
def read_array(path):
with open(path, "rb") as fid:
width, height, channels = np.genfromtxt(
fid, delimiter="&", max_rows=1, usecols=(0, 1, 2), dtype=int
)
fid.seek(0)
num_delimiter = 0
byte = fid.read(1)
while True:
if byte == b"&":
num_delimiter += 1
if num_delimiter >= 3:
break
byte = fid.read(1)
array = np.fromfile(fid, np.float32)
array = array.reshape((width, height, channels), order="F")
return np.transpose(array, (1, 0, 2)).squeeze()
def write_array(array, path):
"""
see: src/mvs/mat.h
void Mat<T>::Write(const std::string& path)
"""
assert array.dtype == np.float32
if len(array.shape) == 2:
height, width = array.shape
channels = 1
elif len(array.shape) == 3:
height, width, channels = array.shape
else:
assert False
with open(path, "w") as fid:
fid.write(str(width) + "&" + str(height) + "&" + str(channels) + "&")
with open(path, "ab") as fid:
if len(array.shape) == 2:
array_trans = np.transpose(array, (1, 0))
elif len(array.shape) == 3:
array_trans = np.transpose(array, (1, 0, 2))
else:
assert False
data_1d = array_trans.reshape(-1, order="F")
data_list = data_1d.tolist()
endian_character = "<"
format_char_sequence = "".join(["f"] * len(data_list))
byte_data = struct.pack(
endian_character + format_char_sequence, *data_list
)
fid.write(byte_data)
def parse_args():
parser = argparse.ArgumentParser()
parser.add_argument(
"-d", "--depth_map", help="path to depth map", type=str, required=True
)
parser.add_argument(
"-n", "--normal_map", help="path to normal map", type=str, required=True
)
parser.add_argument(
"--min_depth_percentile",
help="minimum visualization depth percentile",
type=float,
default=5,
)
parser.add_argument(
"--max_depth_percentile",
help="maximum visualization depth percentile",
type=float,
default=95,
)
args = parser.parse_args()
return args
def main():
args = parse_args()
if args.min_depth_percentile > args.max_depth_percentile:
raise ValueError(
"min_depth_percentile should be less than or equal "
"to the max_depth_percentile."
)
# Read depth and normal maps corresponding to the same image.
if not os.path.exists(args.depth_map):
raise FileNotFoundError("File not found: {}".format(args.depth_map))
if not os.path.exists(args.normal_map):
raise FileNotFoundError("File not found: {}".format(args.normal_map))
depth_map = read_array(args.depth_map)
normal_map = read_array(args.normal_map)
min_depth, max_depth = np.percentile(
depth_map, [args.min_depth_percentile, args.max_depth_percentile]
)
depth_map[depth_map < min_depth] = min_depth
depth_map[depth_map > max_depth] = max_depth
import pylab as plt
# Visualize the depth map.
plt.figure()
plt.imshow(depth_map)
plt.title("depth map")
# Visualize the normal map.
plt.figure()
plt.imshow(normal_map)
plt.title("normal map")
plt.show()
if __name__ == "__main__":
main()
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