images_to_pointcloud

#!/home/pi/.virtualenvs/cv/bin/python3

"""
Tool for creating and exporting colored point clouds from stereo image pairs.
"""

import argparse

import cv2
from stereovision.blockmatchers import StereoBM, StereoSGBM
from stereovision.calibration import StereoCalibration
from stereovision.stereo_cameras import CalibratedPair
from stereovision.ui_utils import STEREO_BM_FLAG


def main():
    """Produce PLY point clouds from stereo image pair."""
    parser = argparse.ArgumentParser(description="Read images taken with "
                                     "stereo pair and use them to produce 3D "
                                     "point clouds that can be viewed with "
                                     "MeshLab.", parents=[STEREO_BM_FLAG])
    parser.add_argument("calibration", help="Path to calibration folder.")
    parser.add_argument("left", help="Path to left image")
    parser.add_argument("right", help="Path to right image")
    parser.add_argument("output", help="Path to output file.")
    parser.add_argument("--bm_settings",
                        help="Path to block matcher's settings.")
    args = parser.parse_args()

    image_pair = [cv2.imread(image) for image in [args.left, args.right]]
    calib_folder = args.calibration
    '''if args.use_stereobm:
        block_matcher = StereoBM()
    else:
        block_matcher = StereoSGBM()
        '''
    block_matcher = StereoSGBM()

    if args.bm_settings:
        block_matcher.load_settings(args.bm_settings)

    camera_pair = CalibratedPair(None,
                                StereoCalibration(input_folder=calib_folder),
                                block_matcher)



    points = camera_pair.get_point_cloud(image_pair)#rectified_pair)
    points = points.filter_infinity()
    points.write_ply(args.output)


if __name__ == "__main__":
    main()