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Merge pull request #20471 from ibvfteh:pointcloudio

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GSoC module to save and load point cloud

* Add functionality to read point cloud data from files

* address issues found on review, add tests for mesh, refactor

* enable fail-safe execution and empty arrays as output

* Some improvements for point cloud io module

Co-authored-by: Julie Bareeva <julia.bareeva@xperience.ai>
This commit is contained in:
Klepikov Dmitrii
2022-05-13 21:10:39 +03:00
committed by GitHub
parent 6bffbe4938
commit a99b4071a2
19 changed files with 1113 additions and 12 deletions
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samples/python/essential_mat_reconstr.py
+8 -12
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@@ -1,5 +1,4 @@
import numpy as np, cv2 as cv, matplotlib.pyplot as plt, time, sys, os
from mpl_toolkits.mplot3d import axes3d, Axes3D
import numpy as np, cv2 as cv, time, sys, os
def getEpipolarError(F, pts1_, pts2_, inliers):
pts1 = np.concatenate((pts1_.T, np.ones((1, pts1_.shape[0]))))[:,inliers]
@@ -119,19 +118,16 @@ if __name__ == '__main__':
int(np.sqrt (image1.shape[0] * new_img_size / image1.shape[1]))))
# plot object points
fig = plt.figure(figsize=(13.0, 11.0))
ax = fig.add_subplot(111, projection='3d')
ax.set_aspect('equal')
ax.scatter(obj_pts[:,0], obj_pts[:,1], obj_pts[:,2], c='r', marker='o', s=3)
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('depth')
ax.view_init(azim=-80, elev=110)
color = [1.0, 0.0, 0.0]
colors = np.tile(color, (obj_pts.shape[0], 1))
obj_pts = np.concatenate((obj_pts, colors), axis=1)
obj_pts= np.float32(obj_pts)
cv.viz3d.showPoints("window", "points", obj_pts)
cv.viz3d.setGridVisible("window", True)
# save figures
cv.imshow("matches", image1)
cv.imwrite('matches_E.png', image1)
plt.savefig('reconstruction_3D.png')
cv.waitKey(0)
plt.show()
samples/python/point_cloud.py
+23
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@@ -0,0 +1,23 @@
import numpy as np
import cv2 as cv
vertices, _ = cv.loadPointCloud("../data/teapot.obj")
vertices = np.squeeze(vertices, axis=1)
print(vertices)
color = [1.0, 1.0, 0.0]
colors = np.tile(color, (vertices.shape[0], 1))
obj_pts = np.concatenate((vertices, colors), axis=1)
obj_pts= np.float32(obj_pts)
cv.viz3d.showPoints("window", "points", obj_pts)
cv.viz3d.setGridVisible("window", True)
cv.waitKey(0)
vertices, _, indices = cv.loadMesh("../data/teapot.obj")
vertices = np.squeeze(vertices, axis=1)
cv.viz3d.showMesh("window", "mesh", vertices, indices)
cv.waitKey(0)