def fill_joint_bilateral_filter(scan):
# Load camera parameters
intrinsics, _ = camera_parameters(scan)
pano_ids = list(set([item.split('_')[0] for item in intrinsics.keys()]))
print 'Processing scan %s with %d panoramas' % (scan, len(pano_ids))
for pano in pano_ids:
# Load undistorted depth and rgb images
for c in range(3):
for i in range(6):
name = '%d_%d' % (c, i)
rgb = cv2.imread(color_template % (base_dir, scan, pano, name))
intensity = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
# Load 16bit depth image
depth = cv2.imread(
depth_template % (base_dir, scan, pano, name),
cv2.IMREAD_ANYDEPTH)
# Convert the depth image to uint8.
maxDepth = np.max(depth) + 1
depth = (depth.astype(np.float64) / maxDepth)
depth[depth > 1] = 1
depth = (depth * 255).astype(np.uint8)
#cv2.imshow('input', cv2.applyColorMap(depth, cv2.COLORMAP_JET))
# Convert to col major order
depth = np.asfortranarray(depth)
intensity = np.asfortranarray(intensity)
mask = (depth == 0)
result = np.zeros_like(depth)
# Fill holes
cbf(depth, intensity, mask, result)
#cv2.imshow('result', cv2.applyColorMap(result, cv2.COLORMAP_JET))
#cv2.waitKey(0)
result = (result.astype(np.float64) / 255 * maxDepth).astype(
np.uint16)
assert cv2.imwrite(
filled_depth_template % (base_dir, scan, pano, name),
result)
def fill_joint_bilateral_filter(rgb, depth):
''' Fill holes in a 16bit depth image given corresponding rgb image '''
intensity = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
# Convert the depth image to uint8.
maxDepth = np.max(depth) + 1
depth = (depth.astype(np.float64) / maxDepth)
depth[depth > 1] = 1
depth = (depth * 255).astype(np.uint8)
# Convert to col major order
depth = np.asfortranarray(depth)
intensity = np.asfortranarray(intensity)
mask = (depth == 0)
result = np.zeros_like(depth)
# Fill holes
cbf(depth, intensity, mask, result)
result = (result.astype(np.float64) / 255 * maxDepth).astype(np.uint16)
return result