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adjusted visualization code to include colors in ply #53

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adjusted visualization code to include colors in ply #53

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24 changes: 8 additions & 16 deletions utils/ply_utils.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
from array import array
import plyfile
import numpy as np

import torch

Expand All @@ -12,24 +14,14 @@ def __init__(self, height, width, min_d=3, max_d=400, batch_size=1, roi=None, dr
self.max_d = max_d
self.roi = roi
self.dropout = dropout
self.data = array('f')
self.data = []

self.projector = Backprojection(batch_size, height, width)

def save(self, file):
length = len(self.data) // 6
header = "ply\n" \
"format binary_little_endian 1.0\n" \
f"element vertex {length}\n" \
f"property float x\n" \
f"property float y\n" \
f"property float z\n" \
f"property float red\n" \
f"property float green\n" \
f"property float blue\n" \
f"end_header\n"
file.write(header.encode(encoding="ascii"))
self.data.tofile(file)
vertices = np.array(list(map(tuple, self.data)), dtype=[('x', 'f4'), ('y', 'f4'), ('z', 'f4'), ('red', 'u1'), ('green', 'u1'), ('blue', 'u1')])
vertex_el = plyfile.PlyElement.describe(vertices, 'vertex')
plyfile.PlyData([vertex_el]).write(file)

def add_depthmap(self, depth: torch.Tensor, image: torch.Tensor, intrinsics: torch.Tensor,
extrinsics: torch.Tensor):
Expand All @@ -39,7 +31,7 @@ def add_depthmap(self, depth: torch.Tensor, image: torch.Tensor, intrinsics: tor
if self.roi is not None:
mask[:, :, :self.roi[0], :] = False
mask[:, :, self.roi[1]:, :] = False
mask[:, :, :, :self.roi[2]] = False
mask[:, :, :, self.roi[2]] = False
mask[:, :, :, self.roi[3]:] = False
if self.dropout > 0:
mask = mask & (torch.rand_like(depth) > self.dropout)
Expand All @@ -48,6 +40,6 @@ def add_depthmap(self, depth: torch.Tensor, image: torch.Tensor, intrinsics: tor
coords = extrinsics @ coords
coords = coords[:, :3, :]
data_batch = torch.cat([coords, image.view_as(coords)], dim=1).permute(0, 2, 1)
data_batch = data_batch[mask.view(depth.shape[0], 1, -1).permute(0, 2, 1).expand(-1, -1, 6)]
data_batch = data_batch.view(-1, 6)[mask.view(-1), :]

self.data.extend(data_batch.cpu().tolist())