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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import matplotlib.image as mpimg
import re
def visualize_rgbd(rgbd_image):
print(rgbd_image)
o3d.visualization.draw_geometries([rgbd_image])
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
rgbd_image,
o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
# Flip it, otherwise the pointcloud will be upside down.
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
o3d.visualization.draw_geometries([pcd])
# This is special function used for reading NYU pgm format
# as it is written in big endian byte order.
def read_nyu_pgm(filename, byteorder='>'):
with open(filename, 'rb') as f:
buffer = f.read()
try:
header, width, height, maxval = re.search(
b"(^P5\s(?:\s*#.*[\r\n])*"
b"(\d+)\s(?:\s*#.*[\r\n])*"
b"(\d+)\s(?:\s*#.*[\r\n])*"
b"(\d+)\s(?:\s*#.*[\r\n]\s)*)", buffer).groups()
except AttributeError:
raise ValueError("Not a raw PGM file: '%s'" % filename)
img = np.frombuffer(buffer,
dtype=byteorder + 'u2',
count=int(width) * int(height),
offset=len(header)).reshape((int(height), int(width)))
img_out = img.astype('u2')
return img_out
def nyu_dataset():
print("Read NYU dataset")
# Open3D does not support ppm/pgm file yet. Not using o3d.io.read_image here.
# MathplotImage having some ISSUE with NYU pgm file. Not using imread for pgm.
nyu_data = o3d.data.SampleNYURGBDImage()
color_raw = mpimg.imread(nyu_data.color_path)
depth_raw = read_nyu_pgm(nyu_data.depth_path)
color = o3d.geometry.Image(color_raw)
depth = o3d.geometry.Image(depth_raw)
rgbd_image = o3d.geometry.RGBDImage.create_from_nyu_format(
color, depth, convert_rgb_to_intensity=False)
print("Displaying NYU color and depth images and pointcloud ...")
visualize_rgbd(rgbd_image)
def redwood_dataset():
print("Read Redwood dataset")
redwood_data = o3d.data.SampleRedwoodRGBDImages()
color_raw = o3d.io.read_image(redwood_data.color_paths[0])
depth_raw = o3d.io.read_image(redwood_data.depth_paths[0])
rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
color_raw, depth_raw, convert_rgb_to_intensity=False)
print("Displaying Redwood color and depth images and pointcloud ...")
visualize_rgbd(rgbd_image)
def sun_dataset():
print("Read SUN dataset")
sun_data = o3d.data.SampleSUNRGBDImage()
color_raw = o3d.io.read_image(sun_data.color_path)
depth_raw = o3d.io.read_image(sun_data.depth_path)
rgbd_image = o3d.geometry.RGBDImage.create_from_sun_format(
color_raw, depth_raw, convert_rgb_to_intensity=False)
print("Displaying SUN color and depth images and pointcloud ...")
visualize_rgbd(rgbd_image)
def tum_dataset():
print("Read TUM dataset")
tum_data = o3d.data.SampleTUMRGBDImage()
color_raw = o3d.io.read_image(tum_data.color_path)
depth_raw = o3d.io.read_image(tum_data.depth_path)
rgbd_image = o3d.geometry.RGBDImage.create_from_tum_format(
color_raw, depth_raw, convert_rgb_to_intensity=False)
print("Displaying TUM color and depth images and pointcloud ...")
visualize_rgbd(rgbd_image)
if __name__ == "__main__":
nyu_dataset()
redwood_dataset()
sun_dataset()
tum_dataset()
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