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kitti_example.py
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kitti_example.py
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__author__ = "Jarno Ralli"
__copyright__ = "Copyright, 2021, Jarno Ralli"
__license__ = "3-Clause BSD License"
__maintainer__ = "Jarno Ralli"
__email__ = "jarno@ralli.fi"
__status__ = "Development"
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
# IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
# OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import cv2
from python_camera_library import rectilinear_camera
from python_camera_library import utils
import numpy as np
import open3d as o3d
# Source: https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py
def load_velo_scan(file):
"""Load and parse a velodyne binary file."""
scan = np.fromfile(file, dtype=np.float32)
return scan.reshape((-1, 4))
def readConfFile(fileName):
"""Reads a Kitti camera/velodyne configuration file.
Name of the parameter and the data is separated by ':', i.e 'T: 0.0 0.0 0.0'.
Parameters
----------
fileName : str
Name of the file to be read.
Returns
-------
dictionary
a dictionary containing the configuration data.
"""
conf_dict = dict()
try:
with open(fileName) as f:
for line in f:
data = line.split(":")
conf_dict[data[0]] = data[1]
return conf_dict
except Exception as e:
print(f"readConfFile function raised an exception: {e}")
raise
def extractMatrix(input_str, matrix_shape=None):
"""Convert a str into a matrix/vector.
Parameters
----------
input_str : str
String to be converted into numpy matrix.
matrix_shape : tuple
Tuple defining the output shape.
Returns
-------
numpy.array
Numpy array that has the shape matrix_shape
"""
try:
if matrix_shape is None:
output = np.fromstring(input_str, dtype=float, sep=" ").tolist()
else:
output = np.fromstring(input_str, dtype=float, sep=" ").reshape(
matrix_shape
)
return output
except Exception as e:
print(f"extractMatrix function raised an exception: {e}")
raise
# --------------
# Test program
# --------------
# Read configuration files
cam_conf = readConfFile(
"./test_data/kitti/2011_09_26_calib/2011_09_26/calib_cam_to_cam.txt"
)
lidar_conf = readConfFile(
"./test_data/kitti/2011_09_26_calib/2011_09_26/calib_velo_to_cam.txt"
)
lidar_data = np.transpose(
load_velo_scan(
"./test_data/kitti/2011_09_26_drive_0001_sync/2011_09_26/2011_09_26_drive_0001_sync/velodyne_points/data/0000000000.bin"
)[:, :3]
)
image_data = np.array(
cv2.imread(
"./test_data/kitti/2011_09_26_drive_0001_sync/2011_09_26/2011_09_26_drive_0001_sync/image_02/data/0000000000.png"
)
)
# Rotation and traslation from velodyne to camera 0
RvelTocam0 = extractMatrix(lidar_conf["R"], (3, 3))
TvelTocam0 = extractMatrix(lidar_conf["T"], (3, 1))
# Trans_velTocam0 = transform_from_rot_trans(RvelTocam0, TvelTocam0)
Trans_velTocam0 = utils.concatenateRt(RvelTocam0, TvelTocam0)
# Rotation and traslation from camera 0 to camera 2
Rcam0Tocam2 = extractMatrix(cam_conf["R_02"], (3, 3))
Tcam0Tocam2 = extractMatrix(cam_conf["T_02"], (3, 1))
Trans_cam0Tocam2 = utils.concatenateRt(Rcam0Tocam2, Tcam0Tocam2)
# Projection matrix from camera 2 to rectified camera 2
Pcam2 = extractMatrix(cam_conf["P_rect_02"], (3, 4))
Kcam2 = extractMatrix(cam_conf["K_02"], (3, 3))
Rcam2rect = extractMatrix(cam_conf["R_rect_02"], (3, 3))
im_size_rcam2 = extractMatrix(cam_conf["S_rect_02"])
im_size_rcam2.reverse()
# Extract K-matrix from the projection matrix P = K[R | t]
Kcam2rect = np.matmul(Pcam2[:3, :3], Rcam2rect.transpose())
# print("Kcam 2: " + str(Kcam2))
# print("Kcam rectified 2: " + str(Kcam2rect))
# Transform lidar points to camera 0 coordinate frame
lidar_data_cam0 = utils.transform(Trans_velTocam0, lidar_data)
# Transform lidar points from camera0 to camera 2 coordinate frame
lidar_data_cam2 = utils.transform(Trans_cam0Tocam2, lidar_data_cam0)
# Project lidar points into rectified camera 2
cam2_lidar, uv, RGB_lidar, depth_map = rectilinear_camera.forwardprojectP(
lidar_data_cam2, Pcam2, im_size_rcam2, image_data
)
# Write original lidar points into ply-file
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(lidar_data.transpose())
print("Writing file: 3d_lidar.ply")
o3d.io.write_point_cloud("3d_lidar.ply", pcd)
# Write lidar points in cam0 coordinate frame points into ply-file
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(lidar_data_cam0.transpose())
print("Writing file: 3d_cam0.ply")
o3d.io.write_point_cloud("3d_cam0.ply", pcd)
# Write lidar points in cam2 coordinate frame points into ply-file
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(lidar_data_cam2.transpose())
print("Writing file: 3d_cam2.ply")
o3d.io.write_point_cloud("3d_cam2.ply", pcd)
# Write "filtered" points into ply-file
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(cam2_lidar.transpose())
pcd.colors = o3d.utility.Vector3dVector(RGB_lidar / 255)
print("Writing file: 3d_proj_cam2.ply")
o3d.io.write_point_cloud("3d_proj_cam2.ply", pcd)