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594e028 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | import json
import os
import Imath
import matplotlib.pyplot as plt
import numpy as np
import OpenEXR
script_dir = os.path.dirname(os.path.abspath(__file__))
root = os.path.dirname(script_dir)
depth_data_dir = os.path.join(root, "depth_data", "scene1", "depth_z.exr")
clib_dir = os.path.join(root, "depth_data", "scene1", "calib.json")
def load_depth_exr(path):
f = OpenEXR.InputFile(path)
dw = f.header()["dataWindow"]
w = dw.max.x - dw.min.x + 1
h = dw.max.y - dw.min.y + 1
ch = "R" if "R" in f.header()["channels"] else next(iter(f.header()["channels"]))
raw = f.channel(ch, Imath.PixelType(Imath.PixelType.FLOAT))
return np.frombuffer(raw, dtype=np.float32).reshape(h, w)
def main():
'''visualize the depth data'''
with open(clib_dir, encoding="utf-8") as f:
calib = json.load(f)
unit = calib.get("unit", "?")
res = tuple(calib["camera"]["resolution"]) # [w, h]
z = load_depth_exr(depth_data_dir)
assert z.shape == (res[1], res[0]), f"depth {z.shape} != calib {res[1]}x{res[0]}"
lo, hi = np.nanpercentile(z, [2, 98])
print("z clim", lo, hi, "valid", np.isfinite(z).sum(), f"unit={unit}")
fig, ax = plt.subplots(figsize=(10, 5))
im = ax.imshow(z, cmap="turbo", vmin=lo, vmax=hi)
ax.set_title(f"Z = depth (camera) [{unit}]")
ax.axis("off")
plt.colorbar(im, ax=ax)
plt.tight_layout()
out = os.path.join(os.path.dirname(depth_data_dir), "depth_vis.png")
plt.savefig(out, dpi=120)
print("saved", out)
plt.show()
if __name__ == "__main__":
main()
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