Create MvsReadDMAP.py

MvsReadDMAP.py

@@ -0,0 +1,71 @@
+'''
+This script is an example for reading .dmap files created by the DensifyPointCloud module.
+
+usage: MvsReadDMAP.py [-h] [--input INPUT]
+'''
+
+from argparse import ArgumentParser
+import numpy as np
+import pyvips
+import struct
+
+def loadDMAP(dmap_path):
+  with open(dmap_path, 'rb') as dmap:
+    file_type = dmap.read(2).decode()
+    content_type = struct.unpack('B', dmap.read(1))[0]
+    reserve = struct.unpack('B', dmap.read(1))[0]
+
+    image_width, image_height = struct.unpack('2I', dmap.read(8))
+    depth_width, depth_height = struct.unpack('2I', dmap.read(8))
+
+    depth_min, depth_max = struct.unpack('2f', dmap.read(8))
+
+    file_name_length = struct.unpack('H', dmap.read(2))[0]
+    file_name = dmap.read(file_name_length).decode()
+
+    view_ids_length = struct.unpack('I', dmap.read(4))[0]
+    view_ids = np.asarray(struct.unpack('%dI' % view_ids_length, dmap.read(4 * view_ids_length)))
+
+    K = np.asarray(struct.unpack('9d', dmap.read(72))).reshape(3, 3)
+    R = np.asarray(struct.unpack('9d', dmap.read(72))).reshape(3, 3)
+    C = np.asarray(struct.unpack('3d', dmap.read(24)))
+
+    depth_length = depth_width * depth_height
+    depth_map = np.asarray(struct.unpack('%df' % depth_length, dmap.read(4 * depth_length))).reshape(depth_height, depth_width)
+    normal_map = np.asarray(struct.unpack('%df' % depth_length * 3, dmap.read(4 * depth_length * 3))).reshape(depth_height, depth_width, 3)
+    confidence_map = np.asarray(struct.unpack('%df' % depth_length, dmap.read(4 * depth_length))).reshape(depth_height, depth_width)
+    views_map = np.asarray(struct.unpack('%dB' % depth_length * 4, dmap.read(depth_length * 4))).reshape(depth_height, depth_width, 4)
+
+  data = {
+    'image_width': image_width,
+    'image_height': image_height,
+    'depth_width': depth_width,
+    'depth_height': depth_height,
+    'depth_min': depth_min,
+    'depth_max': depth_max,
+    'file_name': file_name,
+    'view_ids': view_ids,
+    'K': K,
+    'R': R,
+    'C': C,
+    'depth_map': depth_map,
+    'normal_map': normal_map,
+    'confidence_map': confidence_map,
+    'views_map': views_map
+  }
+
+  return data
+
+def main():
+  parser = ArgumentParser()
+  parser.add_argument('-i', '--input', type=str, required=True, help='path to the depth map')
+  args = parser.parse_args()
+
+  dmap = loadDMAP(args.input)
+
+  pyvips.Image.new_from_array(np.uint8(dmap['depth_map'] * (1 / dmap['depth_max']) * 255)).write_to_file('depth_map.png')
+  pyvips.Image.new_from_array(np.uint8((dmap['normal_map'] @ -dmap['R'].T + 1) * 0.5 * 255)).write_to_file('normal_map.png')
+  pyvips.Image.new_from_array(np.uint8(dmap['confidence_map'] * (1 / dmap['confidence_map'].max()) * 255)).write_to_file('confidence_map.png')
+
+if __name__ == '__main__':
+  main()