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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 "open3d/pipelines/odometry/Odometry.h"
#include "open3d/geometry/Image.h"
#include "open3d/geometry/RGBDImage.h"
#include "open3d/pipelines/odometry/OdometryOption.h"
#include "open3d/pipelines/odometry/RGBDOdometryJacobian.h"
#include "pybind/docstring.h"
#include "pybind/pipelines/odometry/odometry.h"
namespace open3d {
namespace pipelines {
namespace odometry {
template <class RGBDOdometryJacobianBase = RGBDOdometryJacobian>
class PyRGBDOdometryJacobian : public RGBDOdometryJacobianBase {
public:
using RGBDOdometryJacobianBase::RGBDOdometryJacobianBase;
void ComputeJacobianAndResidual(
int row,
std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
std::vector<double> &r,
std::vector<double> &w,
const geometry::RGBDImage &source,
const geometry::RGBDImage &target,
const geometry::Image &source_xyz,
const geometry::RGBDImage &target_dx,
const geometry::RGBDImage &target_dy,
const Eigen::Matrix3d &intrinsic,
const Eigen::Matrix4d &extrinsic,
const CorrespondenceSetPixelWise &corresps) const override {
PYBIND11_OVERLOAD_PURE(void, RGBDOdometryJacobianBase, row, J_r, r,
source, target, source_xyz, target_dx, target_dy,
extrinsic, corresps, intrinsic);
}
};
void pybind_odometry_classes(py::module &m) {
// open3d.odometry.OdometryOption
py::class_<OdometryOption> odometry_option(
m, "OdometryOption", "Class that defines Odometry options.");
odometry_option
.def(py::init(
[](std::vector<int> iteration_number_per_pyramid_level,
double depth_diff_max, double depth_min,
double depth_max) {
return new OdometryOption(
iteration_number_per_pyramid_level,
depth_diff_max, depth_min, depth_max);
}),
"iteration_number_per_pyramid_level"_a =
std::vector<int>{20, 10, 5},
"depth_diff_max"_a = 0.03, "depth_min"_a = 0.0,
"depth_max"_a = 4.0)
.def_readwrite("iteration_number_per_pyramid_level",
&OdometryOption::iteration_number_per_pyramid_level_,
"List(int): Iteration number per image pyramid "
"level, typically larger image in the pyramid have "
"lower iteration number to reduce computation "
"time.")
.def_readwrite("depth_diff_max", &OdometryOption::depth_diff_max_,
"Maximum depth difference to be considered as "
"correspondence. In depth image domain, if two "
"aligned pixels have a depth difference less than "
"specified value, they are considered as a "
"correspondence. Larger value induce more "
"aggressive search, but it is prone to unstable "
"result.")
.def_readwrite("depth_min", &OdometryOption::depth_min_,
"Pixels that has smaller than specified depth "
"values are ignored.")
.def_readwrite("depth_max", &OdometryOption::depth_max_,
"Pixels that has larger than specified depth values "
"are ignored.")
.def("__repr__", [](const OdometryOption &c) {
int num_pyramid_level =
(int)c.iteration_number_per_pyramid_level_.size();
std::string str_iteration_number_per_pyramid_level_ = "[ ";
for (int i = 0; i < num_pyramid_level; i++)
str_iteration_number_per_pyramid_level_ +=
std::to_string(
c.iteration_number_per_pyramid_level_[i]) +
", ";
str_iteration_number_per_pyramid_level_ += "] ";
return std::string("OdometryOption class.") +
/*std::string("\nodo_init = ") +
std::to_string(c.odo_init_) +*/
std::string("\niteration_number_per_pyramid_level = ") +
str_iteration_number_per_pyramid_level_ +
std::string("\ndepth_diff_max = ") +
std::to_string(c.depth_diff_max_) +
std::string("\ndepth_min = ") +
std::to_string(c.depth_min_) +
std::string("\ndepth_max = ") +
std::to_string(c.depth_max_);
});
// open3d.odometry.RGBDOdometryJacobian
py::class_<RGBDOdometryJacobian,
PyRGBDOdometryJacobian<RGBDOdometryJacobian>>
jacobian(
m, "RGBDOdometryJacobian",
"Base class that computes Jacobian from two RGB-D images.");
// open3d.odometry.RGBDOdometryJacobianFromColorTerm: RGBDOdometryJacobian
py::class_<RGBDOdometryJacobianFromColorTerm,
PyRGBDOdometryJacobian<RGBDOdometryJacobianFromColorTerm>,
RGBDOdometryJacobian>
jacobian_color(m, "RGBDOdometryJacobianFromColorTerm",
R"(Class to Compute Jacobian using color term.
Energy: :math:`(I_p-I_q)^2.`
Reference:
F. Steinbrucker, J. Sturm, and D. Cremers.
Real-time visual odometry from dense RGB-D images.
In ICCV Workshops, 2011.)");
py::detail::bind_default_constructor<RGBDOdometryJacobianFromColorTerm>(
jacobian_color);
py::detail::bind_copy_functions<RGBDOdometryJacobianFromColorTerm>(
jacobian_color);
jacobian_color.def(
"__repr__", [](const RGBDOdometryJacobianFromColorTerm &te) {
return std::string("RGBDOdometryJacobianFromColorTerm");
});
// open3d.odometry.RGBDOdometryJacobianFromHybridTerm: RGBDOdometryJacobian
py::class_<RGBDOdometryJacobianFromHybridTerm,
PyRGBDOdometryJacobian<RGBDOdometryJacobianFromHybridTerm>,
RGBDOdometryJacobian>
jacobian_hybrid(m, "RGBDOdometryJacobianFromHybridTerm",
R"(Class to compute Jacobian using hybrid term
Energy: :math:`(I_p-I_q)^2 + \lambda(D_p-D_q')^2`
Reference:
J. Park, Q.-Y. Zhou, and V. Koltun
Anonymous submission.)");
py::detail::bind_default_constructor<RGBDOdometryJacobianFromHybridTerm>(
jacobian_hybrid);
py::detail::bind_copy_functions<RGBDOdometryJacobianFromHybridTerm>(
jacobian_hybrid);
jacobian_hybrid.def(
"__repr__", [](const RGBDOdometryJacobianFromHybridTerm &te) {
return std::string("RGBDOdometryJacobianFromHybridTerm");
});
}
void pybind_odometry_methods(py::module &m) {
m.def("compute_rgbd_odometry", &ComputeRGBDOdometry,
py::call_guard<py::gil_scoped_release>(),
"Function to estimate 6D rigid motion from two RGBD image pairs. "
"Output: (is_success, 4x4 motion matrix, 6x6 information matrix).",
"rgbd_source"_a, "rgbd_target"_a,
"pinhole_camera_intrinsic"_a = camera::PinholeCameraIntrinsic(),
"odo_init"_a = Eigen::Matrix4d::Identity(),
"jacobian"_a = RGBDOdometryJacobianFromHybridTerm(),
"option"_a = OdometryOption());
docstring::FunctionDocInject(
m, "compute_rgbd_odometry",
{
{"rgbd_source", "Source RGBD image."},
{"rgbd_target", "Target RGBD image."},
{"pinhole_camera_intrinsic", "Camera intrinsic parameters"},
{"odo_init", "Initial 4x4 motion matrix estimation."},
{"jacobian",
"The odometry Jacobian method to use. Can be "
"``"
"RGBDOdometryJacobianFromHybridTerm()`` or "
"``RGBDOdometryJacobianFromColorTerm("
").``"},
{"option", "Odometry hyper parameters."},
});
}
void pybind_odometry(py::module &m) {
py::module m_submodule = m.def_submodule("odometry", "Odometry pipeline.");
pybind_odometry_classes(m_submodule);
pybind_odometry_methods(m_submodule);
}
} // namespace odometry
} // namespace pipelines
} // namespace open3d
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