pcl_depth_2.py

#!/usr/bin/python
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# Copyright (c) 2013, Juergen Sturm, TUM
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# the resulting .ply file can be viewed for example with meshlab
# sudo apt-get install meshlab

"""
This script reads a registered pair of color and depth images and generates a
colored 3D point cloud in the PLY format.
"""

import argparse
import sys
import os
import cv2
import numpy as np
import pcl

focalLength = 575.81573
centerX = 314.5
centerY = 235.5
scalingFactor = 5000.0

def generate_pointcloud(rgb_file,depth_file,ply_file):
    """
    Generate a colored point cloud in PLY format from a color and a depth image.
    
    Input:
    rgb_file -- filename of color image
    depth_file -- filename of depth image
    ply_file -- filename of ply file
    
    """
    rgb = cv2.imread(rgb_file)
    depth = cv2.imread(depth_file)
    
    # if rgb.size != depth.size:
    #     raise Exception("Color and depth image do not have the same resolution.")
    # if rgb.mode != "RGB":
    #     raise Exception("Color image is not in RGB format")
    # if depth.mode != "I":
    #     raise Exception("Depth image is not in intensity format")


    points = []    
    for v in range(rgb.shape[1]):
        for u in range(rgb.shape[0]):
            color = rgb[u,v,:]
            Z = depth[u,v,0] / scalingFactor
            if Z==0: continue
            X = (u - centerX) * Z / focalLength
            Y = (v - centerY) * Z / focalLength
            points.append([X,Y,Z])

    pcl_data = np.array([xi for xi in points]).astype(np.float32)

    pc = pcl.PointCloud()
    pc.from_array(pcl_data)
    # Save to pcd
    pc.to_file("test.pcd")





#             points.append("%f %f %f %d %d %d 0\n"%(X,Y,Z,color[0],color[1],color[2]))
#     file = open(ply_file,"w")
#     file.write('''ply
# format ascii 1.0
# element vertex %d
# property float x
# property float y
# property float z
# property uchar red
# property uchar green
# property uchar blue
# property uchar alpha
# end_header
# %s
# '''%(len(points),"".join(points)))
#     file.close()

if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='''
    This script reads a registered pair of color and depth images and generates a colored 3D point cloud in the
    PLY format. 
    ''')
    parser.add_argument('rgb_file', help='input color image (format: png)')
    parser.add_argument('depth_file', help='input depth image (format: png)')
    parser.add_argument('ply_file', help='output PLY file (format: ply)')
    args = parser.parse_args()

    generate_pointcloud(args.rgb_file,args.depth_file,args.ply_file)