2_capture_color.py

# `BSD 3-Clause License

# Copyright (c) 2022, GIST CGLAB
# All rights reserved.

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# modification, are permitted provided that the following conditions are met:

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#    list of conditions and the following disclaimer.

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#    this list of conditions and the following disclaimer in the documentation
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# This script generates/captured required images for the framework.
# 1. Color image (for texture)
# 2. Color image (with white image projection)
# 3. Projection mask (2 - 1)
# 4. Color image (with checkerboard image projection)

import socket
import time
import socket
import os

import open3d as o3d
import cv2
import pymeshlab

import numpy as np
import imageio

from PyQt5.QtCore import *
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
from PyQt5.QtCore import QObject, pyqtSignal

from common import *

if __name__ == '__main__':

    res = 600

    grid = [int(i * (res/20)) for i in range(20)][1:]

    myapp = myImageDisplayApp()
    iPadCam = iPadCamera()

    imageio.plugins.freeimage.download()

    if not os.path.isdir(scene_path):
        os.mkdir(scene_path)
    os.chdir(scene_path)


    # Generate black image with given resolution
    cv2.imwrite("prj_texture_black.png", np.zeros((res, res, 3))*255)
    cv2.imwrite("prj_texture_white.png", np.ones((res, res, 3))*255)

    # Generate pattern image
    pattern_np = np.ones((res, res, 3))*255
    for i in grid:
        for j in range(-2, 3):
            pattern_np[i+j, :, :] = 0
    for i in grid:
        for j in range(-2, 3):
            pattern_np[:, i+j, :] = 0
    cv2.imwrite("prj_texture_pattern.png", pattern_np)

    input("Turn on the light and press enter")

    # Capture depth/color without projection
    myapp.emit_image_update('prj_texture_black.png')
    time.sleep(2)
    iPadCam.get_rgb_image("color")

    # Capture depth/color with projection
    myapp.emit_image_update('prj_texture_white.png')
    time.sleep(5)
    iPadCam.get_rgb_image("color_proj")

    # Generate mask 
    cam_img = read_png("color.png")
    cam_img_proj = read_png("color_proj.png")

    diff = cam_img_proj - cam_img
    diff = np.where(diff>0.01, 1, 0)
    diff = np.reshape(diff, (480, 640, 3))
    diff = np.mean(diff, axis=2)
    diff = np.reshape(diff, (480, 640, 1))
    diff = np.concatenate((diff, diff, diff), axis=2)

    pyexr.write("color_proj_dist.exr", diff)

    input("Turn off the light and press enter")

    time.sleep(2)

    # Project estimated projector input image
    print("Project check image")
    myapp.emit_image_update('prj_texture_pattern.png')
    time.sleep(5)
    
    # Capture image
    print("Capture check image")
    iPadCam.get_rgb_image("captured_check")