KinFu python samples

modules/rgbd/samples/kinfu_demo.py

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+import numpy as np
+import cv2 as cv
+import sys
+
+from argparse import ArgumentParser
+
+def get_depth_list(folder):
+    f = open(folder + '/depth.txt', 'r')
+    rgb = [folder + '/' + s for s in f.read().split() if s.endswith('.png')]
+    return rgb
+
+def kinfu_demo():
+    parser = ArgumentParser()
+    parser.add_argument(
+        "-i", "--input", help="Required. Path to folder with a input image file", required=True, type=str)
+    parser.add_argument(
+        "-t", "--large_kinfu", help="Required. Name of KinFu type", required=False, type=str)
+    parser.add_argument(
+        "-ocl", "--use_opencl", help="Required. Flag of OpenCL use", required=False, type=int, default=1)
+
+    args = parser.parse_args()
+    print("Args: ", args)
+
+    cv.ocl.setUseOpenCL(args.use_opencl)
+
+    if (args.large_kinfu == None or args.large_kinfu == "0"):
+        params = cv.kinfu_Params.defaultParams()
+        kf = cv.kinfu_KinFu.create(params)
+    elif (args.large_kinfu == "1"):
+        params = cv.kinfu_Params.hashTSDFParams(False)
+        kf = cv.kinfu_KinFu.create(params)
+    else:
+        raise ValueError("Incorrect kinfu type name")
+
+    depth_list = get_depth_list(args.input)
+    for path in depth_list:
+
+        image = cv.imread(path, cv.IMREAD_ANYDEPTH)
+        (height, width) = image.shape
+
+        cv.imshow('input', image)
+
+        size = height, width, 4
+        cvt8 = np.zeros(size, dtype=np.uint8)
+
+        if not kf.update(image):
+            kf.reset()
+        else:
+            kf.render(cvt8)
+            cv.imshow('render', cvt8)
+        cv.pollKey()
+    cv.waitKey(0)
+
+
+if __name__ == '__main__':
+    print(__doc__)
+    kinfu_demo()
+    cv.destroyAllWindows()