removed debug, added 16bit depth map conversion from *.exr

blender_generate_image_and_depth.py

@@ -80,7 +80,7 @@ rn = scene.node_tree.nodes.new('CompositorNodeRLayers')
 depth = scene.node_tree.nodes.new('CompositorNodeOutputFile')
 depth.format.file_format = 'OPEN_EXR'
 depth.format.color_depth = '32'
-# TODO: try BW
+# Note: no option for BW?
 depth.format.color_mode = 'RGB'
 depth.format.exr_codec = 'ZIP'
 depth.base_path = model_output_folder
@@ -109,5 +109,3 @@ for fpath in fpaths:
     bpy.data.objects.remove(obj)
     # rename exr
     os.rename(os.path.join(model_output_folder,'depth-0001.exr'),os.path.join(model_output_folder,obj_name+"-depth.exr"))
-
-

exr2png.py

@@ -11,7 +11,6 @@ def exr2arr(exrfile):
     dw = file.header()['dataWindow']
 
     channels = file.header()['channels'].keys()
-    print(channels)
     channels_list = list()
     for c in ('R', 'G', 'B', 'A'):
         if c in channels:
@@ -23,8 +22,7 @@ def exr2arr(exrfile):
     color_channels = file.channels(channels_list, Imath.PixelType(Imath.PixelType.FLOAT))
     channels_tuple = [np.fromstring(channel, dtype='f') for channel in color_channels]
     res = np.dstack(channels_tuple)
-    res.reshape(size + (len(channels_tuple),))
-    return res[:,:,0]
+    return res.reshape(size + (len(channels_tuple),))
 
 
 if __name__ == "__main__":

obj2rgbd.py

 import os
 import subprocess
 
-import exr2png as e2p
-
-PATH_TO_BLENDER = ""
+PATH_TO_BLENDER = ''
+# depth map scale, units in the generated depth map for RGB-D - 16-bit png
+#DMP = 1   # 1 m - range 0-65535 m
+#DMP = 0.1 # 10 cm - range 0-6553.5 m
+DMP = 0.01 # 1 cm  - range 0-655.35 m
+#DMP = 0.001 # 1 mm  - range 0-65.535 m
 
-fpaths = ['input/1527256815_550165_v01/1527256815_550165.obj',
-            'input/1527256903_350165/v03/1527256903_350165.obj',
-            'input/1488240695_710844_x3d105/1488240695_710844.obj']
+fpaths = ['input/1527256815_550165_v01/1527256815_550165.obj',]
 
 filelist = ','.join(fpaths)
 
 # this will run by Blender's bundled python
 subprocess.run(os.path.join(PATH_TO_BLENDER,'blender')+" -b -P blender_generate_image_and_depth.py -- "+filelist, shell=True)
 
-model_output_folder = "output"
\ No newline at end of file
+fname = '1527256815_550165-depth.exr'
+
+model_output_folder = "output"
+
+fname = os.path.join(model_output_folder,fname)
+
+import exr2png as e2p
+import matplotlib.pyplot as plt
+from PIL import Image
+import numpy as np
+
+dmap = e2p.exr2arr(fname)[:,:,0]
+# zero background
+if dmap.dtype=='float32':
+    dmap[dmap==10000000000.0]=0
+
+dmap = dmap/DMP
+dmap[dmap>65535]=0
+
+im = Image.fromarray(dmap.astype(np.uint16))
+im.save(os.path.join(model_output_folder,'model-depth.png'))
+
+plt.imshow(dmap)
+plt.colorbar()
+plt.show()
\ No newline at end of file