def clean_depthmap(arguments):
"""Clean depthmap by checking consistency with neighbors."""
data, reconstruction, neighbors, shot = arguments
if data.clean_depthmap_exists(shot.id):
logger.info("Using precomputed clean depthmap {}".format(shot.id))
return
logger.info("Cleaning depthmap for image {}".format(shot.id))
dc = csfm.DepthmapCleaner()
dc.set_same_depth_threshold(data.config['depthmap_same_depth_threshold'])
dc.set_min_consistent_views(data.config['depthmap_min_consistent_views'])
add_views_to_depth_cleaner(data, reconstruction, neighbors[shot.id], dc)
depth = dc.clean()
# Save and display results
raw_depth, raw_plane, raw_score = data.load_raw_depthmap(shot.id)
data.save_clean_depthmap(shot.id, depth, raw_plane, raw_score)
if data.config['depthmap_save_debug_files']:
image = data.undistorted_image_as_array(shot.id)
image = scale_down_image(image, depth.shape[1], depth.shape[0])
ply = depthmap_to_ply(shot, depth, image)
with open(data._depthmap_file(shot.id, 'clean.npz.ply'), 'w') as fout:
fout.write(ply)
if data.config.get('interactive'):
import matplotlib.pyplot as plt
plt.subplot(2, 2, 1)
plt.imshow(raw_depth)
plt.colorbar()
plt.subplot(2, 2, 2)
plt.imshow(depth)
plt.colorbar()
plt.show()
def clean_depthmap(data, graph, reconstruction, neighbors, shot, depths,
planes, scores):
if data.clean_depthmap_exists(shot.id):
return data.load_clean_depthmap(shot.id)[0]
dc = csfm.DepthmapCleaner()
dc.set_same_depth_threshold(data.config['depthmap_same_depth_threshold'])
dc.set_min_consistent_views(data.config['depthmap_min_consistent_views'])
add_views_to_depth_cleaner(reconstruction, depths, neighbors[shot.id], dc)
depth = dc.clean()
# Save and display results
data.save_clean_depthmap(shot.id, depth, planes[shot.id], scores[shot.id])
if data.config['depthmap_save_debug_files']:
image = data.undistorted_image_as_array(shot.id)
image = scale_down_image(image, depth.shape[1], depth.shape[0])
ply = depthmap_to_ply(shot, depth, image)
with open(data._depthmap_file(shot.id, 'clean.npz.ply'), 'w') as fout:
fout.write(ply)
if data.config.get('interactive'):
import matplotlib.pyplot as plt
plt.subplot(2, 2, 1)
plt.imshow(depths[shot.id])
plt.colorbar()
plt.subplot(2, 2, 2)
plt.imshow(depth)
plt.colorbar()
plt.show()
return depth
def clean_depthmap(arguments):
"""Clean depthmap by checking consistency with neighbors."""
log.setup()
data, neighbors, shot = arguments
if data.clean_depthmap_exists(shot.id):
logger.info("Using precomputed clean depthmap {}".format(shot.id))
return
logger.info("Cleaning depthmap for image {}".format(shot.id))
dc = csfm.DepthmapCleaner()
dc.set_same_depth_threshold(data.config['depthmap_same_depth_threshold'])
dc.set_min_consistent_views(data.config['depthmap_min_consistent_views'])
add_views_to_depth_cleaner(data, neighbors, dc)
depth = dc.clean()
# Save and display results
raw_depth, raw_plane, raw_score, raw_nghbr, nghbrs = data.load_raw_depthmap(
shot.id)
data.save_clean_depthmap(shot.id, depth, raw_plane, raw_score)
if data.config['depthmap_save_debug_files']:
image = data.load_undistorted_image(shot.id)
image = scale_down_image(image, depth.shape[1], depth.shape[0])
ply = depthmap_to_ply(shot, depth, image)
with io.open_wt(data._depthmap_file(shot.id, 'clean.npz.ply')) as fout:
fout.write(ply)
def clean_depthmap(arguments):
"""Clean depthmap by checking consistency with neighbors."""
log.setup()
data, neighbors, shot, file_pathx, self_compute, self_path = arguments
if data.clean_depthmap_exists(shot.id):
logger.info("Using precomputed clean depthmap {}".format(shot.id))
return
logger.info("Cleaning depthmap for image {}".format(shot.id))
dc = csfm.DepthmapCleaner()
dc.set_same_depth_threshold(data.config['depthmap_same_depth_threshold'])
dc.set_min_consistent_views(data.config['depthmap_min_consistent_views'])
add_views_to_depth_cleaner(data, neighbors, dc, self_compute)
depth = dc.clean()
# Save and display results
get_raw = None
if self_compute:
udata = opensfm_interface.UndistortedDataSet(data.path, data.config,
'undistorted')
get_raw = udata.load_raw_depthmap(shot.id)
else:
get_raw = data.load_raw_depthmap(shot.id)
print('here in for data load get raw depth map')
raw_depth, raw_plane, raw_score, raw_nghbr, nghbrs = get_raw
#raw_depth, raw_plane, raw_score, raw_nghbr, nghbrs = data.load_raw_depthmap(shot.id)
data.save_clean_depthmap(shot.id, depth, raw_plane, raw_score)
if data.config['depthmap_save_debug_files']:
image = data.load_undistorted_image(shot.id)
image = scale_down_image(image, depth.shape[1], depth.shape[0])
ply = depthmap_to_ply(shot, depth, image)
with io.open_wt(data._depthmap_file(shot.id, 'clean.npz.ply')) as fout:
fout.write(ply)
if data.config.get('interactive'):
import matplotlib.pyplot as plt
plt.figure()
plt.suptitle("Shot: " + shot.id)
plt.subplot(2, 2, 1)
plt.imshow(raw_depth)
plt.colorbar()
plt.subplot(2, 2, 2)
plt.imshow(depth)
plt.colorbar()
plt.show()