OpenSfM/bin/plot_depthmaps at 833f74c9663117a957ccc40ef16bcce7fffde111 · BrookRoberts/OpenSfM · GitHub

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#!/usr/bin/env python

import argparse
import matplotlib.pyplot as pl
import numpy as np
from textwrap import wrap

from opensfm import dataset
from opensfm import io


def plot_depthmap(im, title, depth, plane, score, nghbr):
        ax = pl.subplot2grid((2, 3), (0, 0), rowspan=2)
        ax_title = ax.set_title(title)
        ax_title.set_y(1.05)
        pl.imshow(im)
        ax = pl.subplot(2, 3, 2)
        ax_title = ax.set_title("Depth")
        ax_title.set_y(1.08)
        pl.imshow(depth)
        pl.colorbar()
        ax = pl.subplot(2, 3, 3)
        ax_title = ax.set_title("Score")
        ax_title.set_y(1.08)
        pl.imshow(score)
        pl.colorbar()
        ax = pl.subplot(2, 3, 5)
        ax_title = ax.set_title("Neighbor")
        ax_title.set_y(1.08)
        pl.imshow(nghbr)
        pl.colorbar()
        ax = pl.subplot(2, 3, 6)
        ax_title = ax.set_title("Plane normal")
        ax_title.set_y(1.02)
        pl.imshow(color_plane_normals(plane))


def color_plane_normals(plane):
    l = np.linalg.norm(plane, axis=2)
    normal = plane / l[..., np.newaxis]
    normal[..., 1] *= -1  # Reverse Y because it points down
    normal[..., 2] *= -1  # Reverse Z because standard colormap does so
    return ((normal + 1) * 128).astype(np.uint8)


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='Compute reconstruction')
    parser.add_argument('dataset',
                        help='path to the dataset to be processed')
    parser.add_argument('--image',
                        help='name of the image to show')
    parser.add_argument('--save-figs',
                        help='save figures istead of showing them',
                        action='store_true')
    args = parser.parse_args()

    data = dataset.DataSet(args.dataset)

    images = [args.image] if args.image else data.images()
    for image in images:
            depth, plane, score, nghbr, nghbrs = data.load_raw_depthmap(image)

            print "Plotting depthmap for {0}".format(image)
            pl.close("all")
            pl.figure(figsize=(30, 16), dpi=90, facecolor='w', edgecolor='k')
            title = "Shot: " + image + "\n" + "\n".join(wrap("Neighbors: " + ', '.join(nghbrs), 80))
            plot_depthmap(data.image_as_array(image), title, depth, plane, score, nghbr)
            pl.tight_layout()

            if args.save_figs:
                p = args.dataset + '/plot_depthmaps'
                io.mkdir_p(p)
                pl.savefig(p + '/' + image + '.png')
                pl.close()
            else:
                pl.show()