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read blender depth in different formats #33

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read blender depth in different formats #33

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18 changes: 15 additions & 3 deletions vikit_common/include/vikit/blender_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,19 @@
namespace vk {
namespace blender_utils {

enum class DepthType {
OPTICAL_AXIS, // Depth stored along optical axis
OPTICAL_RAY // Depth stored along optical ray
};

/*
* Loads depth along optical ray
*/
void loadBlenderDepthmap(
const std::string file_name,
const vk::AbstractCamera& cam,
cv::Mat& img)
cv::Mat& img,
DepthType type=DepthType::OPTICAL_RAY)
{
std::ifstream file_stream(file_name.c_str());
assert(file_stream.is_open());
Expand All @@ -35,8 +44,11 @@ void loadBlenderDepthmap(
{
file_stream >> depth;
// blender:
Eigen::Vector2d uv(vk::project2d(cam.cam2world(x,y)));
*img_ptr = depth * sqrt(uv[0]*uv[0] + uv[1]*uv[1] + 1.0);
if (type == DepthType::OPTICAL_AXIS) {
Eigen::Vector2d uv(vk::project2d(cam.cam2world(x,y)));
depth = depth * sqrt(uv[0]*uv[0] + uv[1]*uv[1] + 1.0);
}
*img_ptr = depth;

// povray
// *img_ptr = depth/100.0; // depth is in [cm], we want [m]
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