def _transform_dense_point_cloud(udata: UndistortedDataSet, transformation,
output_path):
"""Apply a transformation to the merged point cloud."""
A, b = transformation[:3, :3], transformation[:3, 3]
input_path = udata.point_cloud_file()
with io.open_rt(input_path) as fin:
with io.open_wt(output_path) as fout:
for i, line in enumerate(fin):
if i < 13:
fout.write(line)
else:
x, y, z, nx, ny, nz, red, green, blue = line.split()
x, y, z = np.dot(A, map(float, [x, y, z])) + b
nx, ny, nz = np.dot(A, map(float, [nx, ny, nz]))
fout.write("{} {} {} {} {} {} {} {} {}\n".format(
x, y, z, nx, ny, nz, red, green, blue))
def merge_depthmaps(data: UndistortedDataSet, reconstruction):
"""Merge depthmaps into a single point cloud."""
logger.info("Merging depthmaps")
shot_ids = [
s for s in reconstruction.shots if data.pruned_depthmap_exists(s)
]
if not shot_ids:
logger.warning("Depthmaps contain no points. Try using more images.")
return
def depthmap_provider(shot_id):
return data.load_pruned_depthmap(shot_id)
merge_depthmaps_from_provider(data, shot_ids, depthmap_provider,
data.point_cloud_file())