RGBD Image#

rgbd_datasets.py#

  1# ----------------------------------------------------------------------------
  2# -                        Open3D: www.open3d.org                            -
  3# ----------------------------------------------------------------------------
  4# Copyright (c) 2018-2023 www.open3d.org
  5# SPDX-License-Identifier: MIT
  6# ----------------------------------------------------------------------------
  7
  8import open3d as o3d
  9import numpy as np
 10import matplotlib.image as mpimg
 11import re
 12
 13
 14def visualize_rgbd(rgbd_image):
 15    print(rgbd_image)
 16
 17    o3d.visualization.draw_geometries([rgbd_image])
 18
 19    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
 20        rgbd_image,
 21        o3d.camera.PinholeCameraIntrinsic(
 22            o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
 23    # Flip it, otherwise the pointcloud will be upside down.
 24    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
 25    o3d.visualization.draw_geometries([pcd])
 26
 27
 28# This is special function used for reading NYU pgm format
 29# as it is written in big endian byte order.
 30def read_nyu_pgm(filename, byteorder='>'):
 31    with open(filename, 'rb') as f:
 32        buffer = f.read()
 33    try:
 34        header, width, height, maxval = re.search(
 35            b"(^P5\s(?:\s*#.*[\r\n])*"
 36            b"(\d+)\s(?:\s*#.*[\r\n])*"
 37            b"(\d+)\s(?:\s*#.*[\r\n])*"
 38            b"(\d+)\s(?:\s*#.*[\r\n]\s)*)", buffer).groups()
 39    except AttributeError:
 40        raise ValueError("Not a raw PGM file: '%s'" % filename)
 41    img = np.frombuffer(buffer,
 42                        dtype=byteorder + 'u2',
 43                        count=int(width) * int(height),
 44                        offset=len(header)).reshape((int(height), int(width)))
 45    img_out = img.astype('u2')
 46    return img_out
 47
 48
 49def nyu_dataset():
 50    print("Read NYU dataset")
 51    # Open3D does not support ppm/pgm file yet. Not using o3d.io.read_image here.
 52    # MathplotImage having some ISSUE with NYU pgm file. Not using imread for pgm.
 53    nyu_data = o3d.data.SampleNYURGBDImage()
 54    color_raw = mpimg.imread(nyu_data.color_path)
 55    depth_raw = read_nyu_pgm(nyu_data.depth_path)
 56    color = o3d.geometry.Image(color_raw)
 57    depth = o3d.geometry.Image(depth_raw)
 58    rgbd_image = o3d.geometry.RGBDImage.create_from_nyu_format(
 59        color, depth, convert_rgb_to_intensity=False)
 60
 61    print("Displaying NYU color and depth images and pointcloud ...")
 62    visualize_rgbd(rgbd_image)
 63
 64
 65def redwood_dataset():
 66    print("Read Redwood dataset")
 67    redwood_data = o3d.data.SampleRedwoodRGBDImages()
 68    color_raw = o3d.io.read_image(redwood_data.color_paths[0])
 69    depth_raw = o3d.io.read_image(redwood_data.depth_paths[0])
 70    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
 71        color_raw, depth_raw, convert_rgb_to_intensity=False)
 72
 73    print("Displaying Redwood color and depth images and pointcloud ...")
 74    visualize_rgbd(rgbd_image)
 75
 76
 77def sun_dataset():
 78    print("Read SUN dataset")
 79    sun_data = o3d.data.SampleSUNRGBDImage()
 80    color_raw = o3d.io.read_image(sun_data.color_path)
 81    depth_raw = o3d.io.read_image(sun_data.depth_path)
 82    rgbd_image = o3d.geometry.RGBDImage.create_from_sun_format(
 83        color_raw, depth_raw, convert_rgb_to_intensity=False)
 84
 85    print("Displaying SUN color and depth images and pointcloud ...")
 86    visualize_rgbd(rgbd_image)
 87
 88
 89def tum_dataset():
 90    print("Read TUM dataset")
 91    tum_data = o3d.data.SampleTUMRGBDImage()
 92    color_raw = o3d.io.read_image(tum_data.color_path)
 93    depth_raw = o3d.io.read_image(tum_data.depth_path)
 94    rgbd_image = o3d.geometry.RGBDImage.create_from_tum_format(
 95        color_raw, depth_raw, convert_rgb_to_intensity=False)
 96
 97    print("Displaying TUM color and depth images and pointcloud ...")
 98    visualize_rgbd(rgbd_image)
 99
100
101if __name__ == "__main__":
102    nyu_dataset()
103    redwood_dataset()
104    sun_dataset()
105    tum_dataset()