def save_point_cloud_from_VREP():
depth_im, rgb_im = save_images_from_VREP("preDiploma_PC/")
depth, rgb = image_processing.calculate_point_cloud(rgb_im, depth_im)
current_object = PointsObject()
current_object.add_points(depth, rgb)
current_object.save_all_points("preDiploma_PC/", "box")
def save_point_cloud_from_images():
rgb_im = image_processing.load_image("preDiploma_PC/", "rgb_box_0.png")
depth_im = image_processing.load_image("preDiploma_PC/", "depth_box_0.png",
"depth")
points, color = image_processing.calculate_point_cloud(
rgb_im / 255, depth_im / 255)
current_object = PointsObject()
current_object.add_points(points, color)
current_object.save_all_points("preDiploma_PC/", "box")
def check_data_generation():
data_generation.save_images_from_VREP()
depth_im = image_processing.load_image("3d_map/", "room_depth0.png",
"depth")
rgb_im = image_processing.load_image("3d_map/", "room_rgb0.png")
xyz, rgb = image_processing.calculate_point_cloud(rgb_im / 255,
depth_im / 255)
temp = PointsObject()
temp.add_points(xyz, rgb)
temp.save_all_points("3d_map/", "room")
visualization.visualize([temp])
def point_cloud_from_VREP():
import vrep_functions
import image_processing
"""Function for checking if vrep_functions and PointsObject are working fine"""
client_id = vrep_functions.vrep_connection()
vrep_functions.vrep_start_sim(client_id)
kinect_rgb_id = vrep_functions.get_object_id(client_id, 'kinect_rgb')
kinect_depth_id = vrep_functions.get_object_id(client_id, 'kinect_depth')
depth_im, rgb_im = vrep_functions.vrep_get_kinect_images(
client_id, kinect_rgb_id, kinect_depth_id)
image_processing.save_image(rgb_im, "preDiploma_PC/", 0, "rgb_box_")
image_processing.save_image(depth_im, "preDiploma_PC/", 0, "depth_box_")
print(depth_im.shape, rgb_im.shape)
vrep_functions.vrep_stop_sim(client_id)
depth, rgb = image_processing.calculate_point_cloud(rgb_im, depth_im)
current_object = PointsObject()
current_object.add_points(depth, rgb)
current_object.save_all_points("preDiploma_PC/", "box")
def save_points_cloud():
points_cloud, points_color = create_points_cloud()
object = PointsObject()
object.set_points(points_cloud, points_color)
object.save_all_points("Test", "ball")