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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 os
import collections
import numpy as np
import pandas as pd
from pyntcloud import PyntCloud
from read_write_model import read_next_bytes, write_next_bytes
MeshPoint = collections.namedtuple(
"MeshingPoint",
["position", "color", "normal", "num_visible_images", "visible_image_idxs"],
)
def read_fused(path_to_fused_ply, path_to_fused_ply_vis):
"""
see: src/mvs/meshing.cc
void ReadDenseReconstruction(const std::string& path
"""
assert os.path.isfile(path_to_fused_ply)
assert os.path.isfile(path_to_fused_ply_vis)
point_cloud = PyntCloud.from_file(path_to_fused_ply)
xyz_arr = point_cloud.points.loc[:, ["x", "y", "z"]].to_numpy()
normal_arr = point_cloud.points.loc[:, ["nx", "ny", "nz"]].to_numpy()
color_arr = point_cloud.points.loc[:, ["red", "green", "blue"]].to_numpy()
with open(path_to_fused_ply_vis, "rb") as fid:
num_points = read_next_bytes(fid, 8, "Q")[0]
mesh_points = [0] * num_points
for i in range(num_points):
num_visible_images = read_next_bytes(fid, 4, "I")[0]
visible_image_idxs = read_next_bytes(
fid,
num_bytes=4 * num_visible_images,
format_char_sequence="I" * num_visible_images,
)
visible_image_idxs = np.array(tuple(map(int, visible_image_idxs)))
mesh_point = MeshPoint(
position=xyz_arr[i],
color=color_arr[i],
normal=normal_arr[i],
num_visible_images=num_visible_images,
visible_image_idxs=visible_image_idxs,
)
mesh_points[i] = mesh_point
return mesh_points
def write_fused_ply(mesh_points, path_to_fused_ply):
columns = ["x", "y", "z", "nx", "ny", "nz", "red", "green", "blue"]
points_data_frame = pd.DataFrame(
np.zeros((len(mesh_points), len(columns))), columns=columns
)
positions = np.asarray([point.position for point in mesh_points])
normals = np.asarray([point.normal for point in mesh_points])
colors = np.asarray([point.color for point in mesh_points])
points_data_frame.loc[:, ["x", "y", "z"]] = positions
points_data_frame.loc[:, ["nx", "ny", "nz"]] = normals
points_data_frame.loc[:, ["red", "green", "blue"]] = colors
points_data_frame = points_data_frame.astype(
{
"x": positions.dtype,
"y": positions.dtype,
"z": positions.dtype,
"red": colors.dtype,
"green": colors.dtype,
"blue": colors.dtype,
"nx": normals.dtype,
"ny": normals.dtype,
"nz": normals.dtype,
}
)
point_cloud = PyntCloud(points_data_frame)
point_cloud.to_file(path_to_fused_ply)
def write_fused_ply_vis(mesh_points, path_to_fused_ply_vis):
"""
see: src/mvs/fusion.cc
void WritePointsVisibility(const std::string& path, const std::vector<std::vector<int>>& points_visibility)
"""
with open(path_to_fused_ply_vis, "wb") as fid:
write_next_bytes(fid, len(mesh_points), "Q")
for point in mesh_points:
write_next_bytes(fid, point.num_visible_images, "I")
format_char_sequence = "I" * point.num_visible_images
write_next_bytes(
fid, [*point.visible_image_idxs], format_char_sequence
)
def write_fused(points, path_to_fused_ply, path_to_fused_ply_vis):
write_fused_ply(points, path_to_fused_ply)
write_fused_ply_vis(points, path_to_fused_ply_vis)
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