#!/usr/bin/python
# Software License Agreement (BSD License)
#
# Copyright (c) 2013, Juergen Sturm, TUM
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# the resulting .ply file can be viewed for example with meshlab
# sudo apt-get install meshlab

"""
This script reads a registered pair of color and depth images and generates a
colored 3D point cloud in the PLY format.
"""

import argparse
import sys
import os
from PIL import Image

focalLength = 517.0
centerX = 318.6
centerY = 255.3
scalingFactor = 5000.0

def generate_pointcloud(rgb_file,depth_file,ply_file):
    """
    Generate a colored point cloud in PLY format from a color and a depth image.
    
    Input:
    rgb_file -- filename of color image
    depth_file -- filename of depth image
    ply_file -- filename of ply file
    
    """
    rgb = Image.open(rgb_file)
    depth = Image.open(depth_file)
    
    if rgb.size != depth.size:
        raise Exception("Color and depth image do not have the same resolution.")
    if rgb.mode != "RGB":
        raise Exception("Color image is not in RGB format")
    if depth.mode != "I":
        raise Exception("Depth image is not in intensity format")


    points = []    
    for v in range(rgb.size[1]):
        for u in range(rgb.size[0]):
            color = rgb.getpixel((u,v))
            Z = depth.getpixel((u,v)) / scalingFactor
            if Z==0: continue
            X = (u - centerX) * Z / focalLength
            Y = (v - centerY) * Z / focalLength
            points.append("%f %f %f %d %d %d 0\n"%(X,Y,Z,color[0],color[1],color[2]))
    file = open(ply_file,"w")
    file.write('''ply
format ascii 1.0
element vertex %d
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
property uchar alpha
end_header
%s
'''%(len(points),"".join(points)))
    file.close()

if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='''
    This script reads a registered pair of color and depth images and generates a colored 3D point cloud in the
    PLY format. 
    ''')
    parser.add_argument('rgb_file', help='input color image (format: png)')
    parser.add_argument('depth_file', help='input depth image (format: png)')
    parser.add_argument('ply_file', help='output PLY file (format: ply)')
    args = parser.parse_args()

    generate_pointcloud(args.rgb_file,args.depth_file,args.ply_file)
    
