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Running
on
Zero
| import os | |
| import cv2 | |
| import numpy as np | |
| import open3d as o3d | |
| # import pyrender | |
| # from pyrender import mesh, DirectionalLight, Material, PerspectiveCamera | |
| os.environ['__GL_THREADED_OPTIMIZATIONS'] = '1' | |
| cord_list = [] | |
| with open('./cord.txt', 'r') as f: | |
| lines = f.readlines() | |
| for line in lines: | |
| m = line.split() | |
| x = int(m[0]) | |
| y = int(m[1]) | |
| x = 1000 - x | |
| y = 1000 - y | |
| cord_list.append([x, y]) | |
| # 假设TXT文件的路径 | |
| output_folder = '/media/gyalex/Data/face_det_dataset/rgbd_data/rgbd' | |
| if not os.path.exists(output_folder): | |
| os.mkdir(output_folder) | |
| for idx in range(32, 33): | |
| txt_file_path = '/media/gyalex/Data/face_det_dataset/rgbd_data/PointImage'+ str(idx) + '.txt' | |
| _, name = os.path.split(txt_file_path) | |
| print(txt_file_path) | |
| with open(txt_file_path, 'r') as file: | |
| points = [] | |
| rgb_list = [] | |
| ori_rgb_list = [] | |
| normal_list = [] | |
| # 逐行读取数据 | |
| for line in file: | |
| # 去除行尾的换行符并分割字符串 | |
| x, y, z, r, g, b, nx, ny, nz, w = line.split() | |
| # 将字符串转换为浮点数 | |
| x = float(x) | |
| y = float(y) | |
| z = float(z) | |
| r = float(r) | |
| g = float(g) | |
| b = float(b) | |
| nx = float(nx) | |
| ny = float(ny) | |
| nz = float(nz) | |
| # 将点添加到列表中 | |
| points.append((x, y, z)) | |
| rgb_list.append((r/255.0, g/255.0 , b/255.0)) | |
| normal_list.append((nx, ny, nz)) | |
| ori_r = int(r) | |
| ori_g = int(g) | |
| ori_b = int(b) | |
| ori_rgb_list.append((ori_r, ori_g , ori_b)) | |
| np_points = np.asarray(points) | |
| np_points_a = np_points | |
| np_colors = np.asarray(rgb_list) | |
| np_normals = np.asarray(normal_list) | |
| np_colors_ori = np.asarray(ori_rgb_list) | |
| pcd = o3d.geometry.PointCloud() | |
| pcd.points = o3d.utility.Vector3dVector(np_points) | |
| pcd.colors = o3d.utility.Vector3dVector(np_colors) | |
| pcd.normals = o3d.utility.Vector3dVector(np_normals) | |
| map_dict = {} | |
| image = np.ones((1000, 1000, 3),dtype=np.uint8)*255 | |
| for i in range(np.array(pcd.points).shape[0]): | |
| x = np.array(pcd.points)[i,0]+400 | |
| y = np.array(pcd.points)[i,1]+400 | |
| image[int(x),int(y),:] = (np.array(pcd.colors)[i,:]*255).astype(np.uint8) | |
| image[int(x+1),int(y),:] = (np.array(pcd.colors)[i,:]*255).astype(np.uint8) | |
| image[int(x),int(y+1),:] = (np.array(pcd.colors)[i,:]*255).astype(np.uint8) | |
| image[int(x-1),int(y),:] = (np.array(pcd.colors)[i,:]*255).astype(np.uint8) | |
| image[int(x),int(y-1),:] = (np.array(pcd.colors)[i,:]*255).astype(np.uint8) | |
| map_dict[str(int(x)) + '_' + str(int(y))] = i | |
| map_dict[str(int(x+1)) + '_' + str(int(y))] = i | |
| map_dict[str(int(x)) + '_' + str(int(y+1))] = i | |
| map_dict[str(int(x-1)) + '_' + str(int(y))] = i | |
| map_dict[str(int(x)) + '_' + str(int(y-1))] = i | |
| # if [int(y), int(x)] in cord_list: | |
| # image[int(x),int(y),:] = np.array([0, 255, 0]) | |
| # if [int(y), int(x+1)] in cord_list: | |
| # image[int(x+1),int(y),:] = np.array([0, 255, 0]) | |
| # if [int(y+1), int(x)] in cord_list: | |
| # image[int(x),int(y+1),:] = np.array([0, 255, 0]) | |
| # if [int(y), int(x-1)] in cord_list: | |
| # image[int(x-1),int(y),:] = np.array([0, 255, 0]) | |
| # if [int(y-1), int(x)] in cord_list: | |
| # image[int(x),int(y-1),:] = np.array([0, 255, 0]) | |
| # if [int(y-1), int(x-1)] in cord_list: | |
| # image[int(x-1),int(y-1),:] = np.array([0, 255, 0]) | |
| # if [int(y+1), int(x+1)] in cord_list: | |
| # image[int(x+1),int(y+1),:] = np.array([0, 255, 0]) | |
| h_list = [] | |
| for m in cord_list: | |
| a, b = m[0], m[1] | |
| c = image[int(b),int(a),:][0] | |
| flag = False | |
| if image[int(b),int(a),:][1] != 255: | |
| h_list.append(str(int(b))+'_'+str(int(a))) | |
| flag = True | |
| else: | |
| if image[int(b)-2,int(a)-2,:][1] != 255: | |
| h_list.append(str(int(b)-2)+'_'+str(int(a)-2)) | |
| flag = True | |
| elif image[int(b)+2,int(a)+2,:][1] != 255: | |
| h_list.append(str(int(b)+2)+'_'+str(int(a)+2)) | |
| flag = True | |
| elif image[int(b),int(a)-3,:][1] != 255: | |
| h_list.append(str(int(b))+'_'+str(int(a)-3)) | |
| flag = True | |
| # if flag == False: | |
| # cc = image[int(b),int(a),:][1] | |
| # cv2.circle(image, (465,505), 2, (0, 255, 0), -1) | |
| # cv2.imshow('win', image) | |
| # cv2.waitKey(0) | |
| with open('pid.txt', 'w') as f: | |
| for h in h_list: | |
| pid = map_dict[h] | |
| s = str(pid) + '\n' | |
| f.write(s) | |
| np_colors[pid,:] = np.array([0, 255, 0]) | |
| f.close() | |
| pcd0 = o3d.geometry.PointCloud() | |
| pcd0.points = o3d.utility.Vector3dVector(np_points) | |
| pcd0.colors = o3d.utility.Vector3dVector(np_colors) | |
| pcd0.normals = o3d.utility.Vector3dVector(np_normals) | |
| o3d.io.write_point_cloud('aa.ply', pcd0) | |
| mm = cv2.cvtColor(image, cv2.COLOR_RGB2BGR) | |
| image3 = cv2.flip(mm, -1) | |
| # cv2.imwrite('./rgb.png', image3) | |
| with open('./cord.txt', 'r') as f: | |
| lines = f.readlines() | |
| for line in lines: | |
| m = line.split() | |
| x = int(m[0]) | |
| y = int(m[1]) | |
| x = 1000 - x | |
| y = 1000 - y | |
| cv2.circle(image, (x,y), 2, (0, 255, 0), -1) | |
| idx = map_dict[str(x)+'_'+str(y)] | |
| a = 0 | |
| # cv2.imshow("win", image) | |
| # cv2.waitKey(0) | |
| # import matplotlib.pyplot as plt | |
| # plt.imshow(image) | |
| # plt.show() | |
| # save_pcd_path = os.path.join(output_folder, name[:-3]+'ply') | |
| # # o3d.io.write_point_cloud(save_pcd_path, pcd) | |
| # # render | |
| # import trimesh | |
| # # fuze_trimesh = trimesh.load('/home/gyalex/Desktop/PointImage32.obj') | |
| # # mesh = pyrender.Mesh.from_trimesh(fuze_trimesh) | |
| # mesh = pyrender.Mesh.from_points(np_points, np_colors_ori, np_normals) | |
| # import math | |
| # camera = PerspectiveCamera(yfov=math.pi / 3, aspectRatio=1.0) | |
| # camera_pose = np.array([[-1.0, 0.0, 0.0, 0], \ | |
| # [0.0, 1.0, 0.0, 0], \ | |
| # [0.0, 0.0, -1.0, 0], \ | |
| # [0.0, 0.0, 0.0, 1.0]]) | |
| # # 创建场景 | |
| # scene = pyrender.Scene() | |
| # scene.add(mesh) | |
| # scene.add(camera, pose=camera_pose) | |
| # # light = pyrender.SpotLight(color=np.ones(3), intensity=3.0, innerConeAngle=np.pi/16.0, outerConeAngle=np.pi/6.0) | |
| # # scene.add(light, pose=camera_pose) | |
| # # 渲染场景 | |
| # renderer = pyrender.OffscreenRenderer(viewport_width=1280, viewport_height=1024) | |
| # color, depth = renderer.render(scene) | |
| # # # 设置场景和光源 | |
| # # scene = pyrender.Scene() | |
| # # scene.add(point_cloud_mesh, 'point_cloud') | |
| # # camera = PerspectiveCamera(yfov=45.0, aspectRatio=1.0) | |
| # # scene.add(camera) | |
| # # # 渲染场景 | |
| # # renderer = pyrender.OffscreenRenderer(viewport_width=1280, viewport_height=1024) | |
| # # color, depth = renderer.render(scene) | |
| # # 保存渲染结果为图片 | |
| # import cv2 | |
| # cv2.imshow('win', color) | |
| # rgb_img = cv2.imread('/media/gyalex/Data/face_det_dataset/rgbd_data/color_32.bmp') | |
| # cv2.imshow('win0', rgb_img) | |
| # cv2.waitKey(0) |