Formatted with industry standard.

constants.py

@@ -0,0 +1,8 @@
+# Depth scale (constant) to convert mm to m vice-versa
+DEPTH_SCALE = 1000
+
+# JSON file of camera intrinsics
+JSON_FILE = "camera.json"
+
+# Output file name
+PCD_FILENAME = "output_py.pcd"

main.py

@@ -0,0 +1,29 @@
+from PIL import Image
+from numpy import asarray
+from constants import *
+
+from rgbd2pointcloud import RGBD2Pointcloud
+
+
+if __name__ == "__main__":
+
+    # Inputs
+    # Read color image
+    color = Image.open("redwood_847.png")
+
+    # Read depth image
+    depth = Image.open("redwood_847d.png")
+
+    # Convert to nnumpy array
+    color = asarray(color)
+    depth = asarray(depth)
+
+    # Convert RGBD to point cloud and write
+    # Object files
+    pcd = RGBD2Pointcloud(JSON_FILE, color, depth, DEPTH_SCALE)
+
+    # Get the XYZ annd RGB files
+    xyzRGB = pcd.xyz_rgb()
+
+    # Write to point cloud file
+    pcd.write2file(xyzRGB, PCD_FILENAME)

rgbd2pointcloud.py

@@ -1,92 +1,85 @@
-import open3d as o3d
-import numpy as np
 import json
-import os
-
-from PIL import Image
-from numpy import asarray
-
-# ----------------------------------------------------------------------------------------------------------
-# Inputs
-# ----------------------------------------------------------------------------------------------------------
-# Read color image
-color = Image.open("redwood_847.png")
-
-# Read depth image
-depth = Image.open("redwood_847d.png")
-
-# Depth scale (constant) to convert mm to m vice-versa
-depth_scale = 1000
-
-# JSON file of camera intrinsics
-json_file = 'camera.json'
-
-# Output file name
-pcd_filename = 'output_py.pcd'
+import numpy as np
+import open3d as o3d
 
-# Convert to nnumpy array
-color = asarray(color)
-depth = asarray(depth)
+from constants import JSON_FILE
 
 # ----------------------------------------------------------------------------------------------------------
 # RGBD to pointcloud class
 # ----------------------------------------------------------------------------------------------------------
 class RGBD2Pointcloud:
     # Constructor
-    def __init__(self, json_filename, color_image, depth_image, depth_scale = 1000):  
-        self.json_filename          = json_filename
-        self.depth_scale            = depth_scale
-        self.color_image            = np.reshape(np.array(color_image), (-1,3), order='C')
-        self.depth_image            = np.reshape(np.array(depth_image), -1, order='C')       
-
+    def __init__(
+        self,
+        json_filename: str,
+        color_image: np.uint8,
+        depth_image: np.uint16,
+        depth_scale: int = 1000,
+    ) -> None:
+        """Init xyz
+
+        Args:
+            json_filename (str): _description_
+            color_image (np.uint8): _description_
+            depth_image (np.uint8): _description_
+            depth_scale (int, optional): _description_. Defaults to 1000.
+        """
+        self.json_filename = json_filename
+        self.depth_scale = depth_scale
+        self.color_image = np.reshape(np.array(color_image), (-1, 3), order="C")
+        self.depth_image = np.reshape(np.array(depth_image), -1, order="C")
+
     # Camera intrinsics
-    def __get_camera_intrincs(self):
-        camera_intrinsic = json.load(open(json_file))
-        cx = camera_intrinsic['cx']
-        cy = camera_intrinsic['cy']
-        fx = camera_intrinsic['fx']
-        fy = camera_intrinsic['fy']
-        width  = camera_intrinsic['width']
-        height = camera_intrinsic['height']
+    @staticmethod
+    def __get_camera_intrincs():
+        """_summary_
+
+        Returns:
+            _type_: _description_
+        """
+        camera_intrinsic = json.load(open(JSON_FILE))
+        cx = camera_intrinsic["cx"]
+        cy = camera_intrinsic["cy"]
+        fx = camera_intrinsic["fx"]
+        fy = camera_intrinsic["fy"]
+        width = camera_intrinsic["width"]
+        height = camera_intrinsic["height"]
 
         return cx, cy, fx, fy, width, height
-    
+
     # XYZ and RGB data
     def xyz_rgb(self):
+        """_summary_
+
+        Returns:
+            _type_: _description_
+        """
         cx, cy, fx, fy, width, height = self.__get_camera_intrincs()
 
         xx = np.arange(0, width)
         yy = np.arange(0, height)
         xv, yv = np.meshgrid(xx, yy)
-              
-        u = np.reshape(xv, -1, order='C')
-        v = np.reshape(yv, -1, order='C')
+
+        u = np.reshape(xv, -1, order="C")
+        v = np.reshape(yv, -1, order="C")
 
         z = self.depth_image / self.depth_scale
         x = (u - cx) * z / fx
         y = (v - cy) * z / fy
-
-        xyzRGB = np.concatenate((np.vstack((x, y, z)).T, 
-                                 self.color_image), axis=1)
+
+        xyzRGB = np.concatenate((np.vstack((x, y, z)).T, self.color_image), axis=1)
         return xyzRGB
 
     # Write the point cloud data
-    def write2file(self, xyzRGB, file_name):
+    @staticmethod
+    def write2file(xyzRGB: np.float32, file_name: str):
+        """_summary_
+
+        Args:
+            xyzRGB (_type_): _description_
+            file_name (_type_): _description_
+        """
         pcd = o3d.geometry.PointCloud()
-        pcd.points = o3d.utility.Vector3dVector(xyzRGB[:,0:3])
-        pcd.colors = o3d.utility.Vector3dVector(xyzRGB[:,3:6] / 255.0)
+        pcd.points = o3d.utility.Vector3dVector(xyzRGB[:, 0:3])
+        pcd.colors = o3d.utility.Vector3dVector(xyzRGB[:, 3:6] / 255.0)
         o3d.io.write_point_cloud(file_name, pcd)
-
-
-# ----------------------------------------------------------------------------------------------------------        
-# Convert RGBD to point cloud and write
-# ----------------------------------------------------------------------------------------------------------
-# Object files
-pcd = RGBD2Pointcloud(json_file, color, depth, depth_scale)
-
-# Get the XYZ annd RGB files
-xyzRGB = pcd.xyz_rgb()
-
-# Write to point cloud file
-pcd.write2file(xyzRGB, pcd_filename)
-