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# -*- coding: utf-8 -*-
import glob
import cv2
import json
import numpy as np
import pdb
import os
normal_list = sorted(glob.glob('./blender_data/*_normal.png'))
camera_list = sorted(glob.glob('./blender_data/*.json'))
def blender2midas(img):
'''Blender: rub
midas: lub
'''
img[...,0] = -img[...,0]
img[...,1] = -img[...,1]
img[...,-1] = -img[...,-1]
return img
def read_camera_matrix_single(json_file):
with open(json_file, 'r', encoding='utf8') as reader:
json_content = json.load(reader)
'''
camera_matrix = np.eye(4)
camera_matrix[:3, 0] = np.array(json_content['x'])
camera_matrix[:3, 1] = -np.array(json_content['y'])
camera_matrix[:3, 2] = -np.array(json_content['z'])
camera_matrix[:3, 3] = np.array(json_content['origin'])
'''
# suppose is true
camera_matrix = np.eye(4)
camera_matrix[:3, 0] = np.array(json_content['x'])
camera_matrix[:3, 1] = np.array(json_content['y'])
camera_matrix[:3, 2] = np.array(json_content['z'])
camera_matrix[:3, 3] = np.array(json_content['origin'])
return camera_matrix
os.makedirs('./blender_system',exist_ok= True)
for idx, (normal_path, camera_json) in enumerate(zip(normal_list, camera_list)):
normal = cv2.imread(normal_path)
# to xyz channel
normal = normal[..., ::-1]
world_normal = (normal.astype(np.float32)/255. * 2.) - 1
cond_c2w = read_camera_matrix_single(camera_json)
# identity map
view_cn = blender2midas(world_normal@ (cond_c2w[:3,:3]))
view_cn = (view_cn+1.)/2. * 255
view_cn = np.asarray(np.clip(view_cn, 0, 255), np.uint8)
z_dir = view_cn[...,-1]
mask = z_dir < 127
view_cn = view_cn[..., ::-1]
visual_mask = view_cn * mask[...,None]
cv2.imwrite(os.path.join("./blender_system/", "{:04d}.png".format(idx)), view_cn)
cv2.imwrite(os.path.join("./blender_system/", "visual_mask_{:04d}.png".format(idx)), visual_mask)
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