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run_resampling_experiment3.py
executable file
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run_resampling_experiment3.py
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# ================================================================
# Created by Gregory Kramida on 1/22/19.
# Copyright (c) 2019 Gregory Kramida
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ================================================================
# stdlib
import sys
import os.path
# libs
import numpy as np
import cv2
import matplotlib.pyplot as plt
# local
import tsdf.ewa as ewa
import tsdf.generation as gen
import experiment.dataset as data
import utils.visualization as viz
# =========
from calib.camerarig import DepthCameraRig
EXIT_CODE_SUCCESS = 0
EXIT_CODE_FAILURE = 1
def main():
array_offset = np.array([-46, -8, 105], dtype=np.int32) # zigzag2 108
field_size = np.array([16, 1, 16], dtype=np.int32)
voxel_size = 0.004
rig = DepthCameraRig.from_infinitam_format(
"/media/algomorph/Data/Reconstruction/synthetic_data/zigzag/inf_calib.txt")
depth_camera = rig.depth_camera
depth_image0 = cv2.imread(
"/media/algomorph/Data/Reconstruction/synthetic_data/zigzag2/input/depth_00108.png",
cv2.IMREAD_UNCHANGED)
max_depth = np.iinfo(np.uint16).max
depth_image0[depth_image0 == 0] = max_depth
field = \
ewa.generate_tsdf_3d_ewa_image_cpp(depth_image0,
depth_camera,
field_shape=field_size,
array_offset=array_offset,
voxel_size=voxel_size,
narrow_band_width_voxels=20)
print(repr(field))
# chunk = np.moveaxis(field, (0,1,2), (2,1,0))
# print(repr(chunk.reshape(16,16)))
return EXIT_CODE_SUCCESS
if __name__ == "__main__":
sys.exit(main())