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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "Config.h"
#include "LegacyReconstructionUtil.h"
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > LegacyReconstruction [options]");
utility::LogInfo(" Given an RGBD image sequence, perform the following steps:");
utility::LogInfo(" 1. Make fragments from the RGBD image sequence.");
utility::LogInfo(" 2. Register multiple fragments.");
utility::LogInfo(" 3. Refine rough registration.");
utility::LogInfo(" 4. Integrate the whole RGBD sequence to make final mesh or point clouds.");
utility::LogInfo(" 5. (Optional) Run slac optimization for fragments.");
utility::LogInfo(" 6. (Optional) Run slac integration for sequence.");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --config [path to config json file]");
utility::LogInfo(" --default_dataset [(optional) default dataset to be used, only if the config file is not provided]");
utility::LogInfo(" [options: (lounge, bedroom, jack_jack), default: lounge]");
utility::LogInfo(" --make");
utility::LogInfo(" --register");
utility::LogInfo(" --refine");
utility::LogInfo(" --integrate");
utility::LogInfo(" --slac");
utility::LogInfo(" --slac_integrate");
utility::LogInfo(" --debug_mode [turn on debug mode]");
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
using namespace open3d::apps::offline_reconstruction;
if (argc < 2 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
// Load dataset.
Json::Value config;
if (utility::ProgramOptionExists(argc, argv, "--config")) {
bool ret;
try {
const std::string config_path = utility::GetProgramOptionAsString(
argc, argv, "--config", "");
utility::LogInfo("Loading config file: {}", config_path);
ret = ReadJsonFromFile(config_path, config);
} catch (const std::exception& e) {
utility::LogWarning("Failed to load config file: {}", e.what());
return 1;
}
InitConfig(config);
ret = CheckFolderStructure(config["path_dataset"].asString());
if (!ret) {
utility::LogWarning("Check folder structure failed.");
return 1;
}
} else {
config = DefaultDatasetLoader(utility::GetProgramOptionAsString(
argc, argv, "--default_dataset", "lounge"));
}
if (utility::ProgramOptionExists(argc, argv, "--debug_mode")) {
config["debug_mode"] = true;
} else {
config["debug_mode"] = false;
}
config["device"] =
utility::GetProgramOptionAsString(argc, argv, "--device", "CPU:0");
// Print configuration in console.
utility::LogInfo("====================================");
utility::LogInfo("Configuration");
utility::LogInfo("====================================");
for (Json::Value::const_iterator it = config.begin(); it != config.end();
++it) {
utility::LogInfo("{}: {}", it.key().asString(), it->asString());
}
utility::LogInfo("====================================");
// Init Reconstruction pipeline.
ReconstructionPipeline pipeline(config);
utility::Timer timer;
std::array<double, 6> durations({0, 0, 0, 0, 0, 0});
if (utility::ProgramOptionExists(argc, argv, "--make")) {
timer.Start();
pipeline.MakeFragments();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[0] = ms;
}
if (utility::ProgramOptionExists(argc, argv, "--register")) {
timer.Start();
pipeline.RegisterFragments();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[1] = ms;
}
if (utility::ProgramOptionExists(argc, argv, "--refine")) {
timer.Start();
pipeline.RefineRegistration();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[2] = ms;
}
if (utility::ProgramOptionExists(argc, argv, "--integrate")) {
timer.Start();
pipeline.IntegrateScene();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[3] = ms;
}
if (utility::ProgramOptionExists(argc, argv, "--slac")) {
timer.Start();
pipeline.SLAC();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[4] = ms;
}
if (utility::ProgramOptionExists(argc, argv, "--slac_integrate")) {
timer.Start();
pipeline.IntegrateSceneSLAC();
timer.Stop();
const double ms = timer.GetDurationInMillisecond();
durations[5] = ms;
}
utility::LogInfo("====================================");
utility::LogInfo("Elapsed time (in h:m:s)");
utility::LogInfo("====================================");
utility::LogInfo("Making fragments: {}", DurationToHMS(durations[0]));
utility::LogInfo("Register fragments: {}", DurationToHMS(durations[1]));
utility::LogInfo("Refining registration: {}", DurationToHMS(durations[2]));
utility::LogInfo("Integrating frames: {}", DurationToHMS(durations[3]));
utility::LogInfo("SLAC: {}", DurationToHMS(durations[4]));
utility::LogInfo("SLAC integration: {}", DurationToHMS(durations[5]));
return 0;
}
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