提交

d2c_batch.py

@@ -24,6 +24,12 @@ import numpy as np
 import cv2
 from pathlib import Path
 
+try:
+    from PIL import Image as _PIL_Image
+    _HAS_PIL = True
+except ImportError:
+    _HAS_PIL = False
+
 PARAMS_FILE = "camera_params.json"
 
 
@@ -219,7 +225,7 @@ def _undistort_points(u, v, intr, dist):
     return x_u, y_u
 
 
-def software_d2c(depth_img, params):
+def software_d2c(depth_img, params, splat=True):
     """
     Transform a uint16 depth image (depth camera space) to an aligned uint16
     depth image in color camera space.
@@ -294,7 +300,19 @@ def software_d2c(depth_img, params):
     z_vals = z_vals[order]
 
     aligned = np.zeros((color_h, color_w), dtype=np.uint16)
-    aligned[v_vals, u_vals] = z_vals
+
+    if splat:
+        # Splat each depth pixel to a 3×3 neighbourhood to fill sub-pixel gaps
+        # that arise from forward projection.  Far→near order is preserved so
+        # the nearest surface always wins when splats overlap.
+        for dv in range(-1, 2):
+            for du in range(-1, 2):
+                us = np.clip(u_vals + du, 0, color_w - 1)
+                vs = np.clip(v_vals + dv, 0, color_h - 1)
+                aligned[vs, us] = z_vals
+    else:
+        aligned[v_vals, u_vals] = z_vals
+
     return aligned
 
 
@@ -315,7 +333,7 @@ def depth_to_colormap(aligned, min_depth_mm=200, max_depth_mm=5000, depth_scale=
     return colormap
 
 
-def batch_convert(params, depth_dir_str):
+def batch_convert(params, depth_dir_str, splat=True):
     depth_dir = Path(depth_dir_str.strip().strip('"\''))
     if not depth_dir.exists():
         print(f"  Directory not found: {depth_dir}")
@@ -343,12 +361,20 @@ def batch_convert(params, depth_dir_str):
     print(f"  Files        : {len(png_files)}")
     print(f"  Depth scale  : {depth_scale:.6f} mm/unit")
     print(f"  Output size  : {color_w}x{color_h}  (color resolution)")
+    print(f"  Splat (3×3)  : {'on' if splat else 'off'}")
     print()
 
     t0 = time.time()
     ok = 0
     for i, fpath in enumerate(png_files, 1):
-        depth_img = cv2.imread(str(fpath), cv2.IMREAD_UNCHANGED)
+        depth_img = None
+        if _HAS_PIL:
+            try:
+                depth_img = np.array(_PIL_Image.open(str(fpath)))
+            except Exception:
+                depth_img = None
+        if depth_img is None:
+            depth_img = cv2.imread(str(fpath), cv2.IMREAD_UNCHANGED)
         if depth_img is None:
             print(f"  [{i:>4}/{len(png_files)}] SKIP (unreadable): {fpath.name}")
             continue
@@ -356,7 +382,7 @@ def batch_convert(params, depth_dir_str):
             depth_img = depth_img[:, :, 0]
         depth_img = depth_img.astype(np.uint16)
 
-        aligned = software_d2c(depth_img, params)
+        aligned = software_d2c(depth_img, params, splat=splat)
 
         # Save aligned uint16 depth
         cv2.imwrite(str(out_dir / fpath.name), aligned)
@@ -405,6 +431,7 @@ def print_params_summary(params):
 def main():
     only_params = "--params" in sys.argv
     only_convert = "--convert" in sys.argv
+    no_splat = "--no-splat" in sys.argv
 
     params = None
 
@@ -448,7 +475,7 @@ def main():
         print("No directory entered. Exiting.")
         return
 
-    batch_convert(params, depth_dir)
+    batch_convert(params, depth_dir, splat=not no_splat)
 
 
 if __name__ == "__main__":