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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 <iostream>
#include <memory>
#include "open3d/Open3D.h"
void PrintHelp(char* argv[]) {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > OdometryRGBD [color_source] [depth_source] [color_target] [depth_target] [options]");
utility::LogInfo(" Given RGBD image pair, estimate 6D odometry.");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --camera_intrinsic [intrinsic_path]");
utility::LogInfo(" --rgbd_type [number] (0:Redwood, 1:TUM, 2:SUN, 3:NYU)");
utility::LogInfo(" --verbose : indicate this to display detailed information");
utility::LogInfo(" --hybrid : compute odometry using hybrid objective");
// clang-NewPormat on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
if (argc <= 4 || utility::ProgramOptionExists(argc, argv, "--help") ||
utility::ProgramOptionExists(argc, argv, "-h")) {
PrintHelp(argv);
return 1;
}
std::string intrinsic_path;
if (utility::ProgramOptionExists(argc, argv, "--camera_intrinsic")) {
intrinsic_path = utility::GetProgramOptionAsString(argc, argv,
"--camera_intrinsic")
.c_str();
utility::LogInfo("Camera intrinsic path {}",
intrinsic_path.c_str());
} else {
utility::LogWarning("Camera intrinsic path is not given");
return 1;
}
camera::PinholeCameraIntrinsic intrinsic;
if (intrinsic_path.empty() ||
!io::ReadIJsonConvertible(intrinsic_path, intrinsic)) {
utility::LogWarning(
"Failed to read intrinsic parameters for depth image.");
utility::LogWarning("Using default value for Primesense camera.");
intrinsic = camera::PinholeCameraIntrinsic(
camera::PinholeCameraIntrinsicParameters::PrimeSenseDefault);
}
if (utility::ProgramOptionExists(argc, argv, "--verbose"))
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
int rgbd_type =
utility::GetProgramOptionAsInt(argc, argv, "--rgbd_type", 0);
auto color_source = io::CreateImageFromFile(argv[1]);
auto depth_source = io::CreateImageFromFile(argv[2]);
auto color_target = io::CreateImageFromFile(argv[3]);
auto depth_target = io::CreateImageFromFile(argv[4]);
std::shared_ptr<geometry::RGBDImage> (*CreateRGBDImage)(
const geometry::Image&, const geometry::Image&, bool);
if (rgbd_type == 0)
CreateRGBDImage = &geometry::RGBDImage::CreateFromRedwoodFormat;
else if (rgbd_type == 1)
CreateRGBDImage = &geometry::RGBDImage::CreateFromTUMFormat;
else if (rgbd_type == 2)
CreateRGBDImage = &geometry::RGBDImage::CreateFromSUNFormat;
else if (rgbd_type == 3)
CreateRGBDImage = &geometry::RGBDImage::CreateFromNYUFormat;
else
CreateRGBDImage = &geometry::RGBDImage::CreateFromRedwoodFormat;
auto source = CreateRGBDImage(*color_source, *depth_source, true);
auto target = CreateRGBDImage(*color_target, *depth_target, true);
pipelines::odometry::OdometryOption option;
Eigen::Matrix4d odo_init = Eigen::Matrix4d::Identity();
Eigen::Matrix4d trans_odo = Eigen::Matrix4d::Identity();
Eigen::Matrix6d info_odo = Eigen::Matrix6d::Zero();
bool is_success;
if (utility::ProgramOptionExists(argc, argv, "--hybrid")) {
pipelines::odometry::RGBDOdometryJacobianFromHybridTerm jacobian_method;
std::tie(is_success, trans_odo, info_odo) =
pipelines::odometry::ComputeRGBDOdometry(*source, *target, intrinsic,
odo_init, jacobian_method,
option);
} else {
pipelines::odometry::RGBDOdometryJacobianFromColorTerm jacobian_method;
std::tie(is_success, trans_odo, info_odo) =
pipelines::odometry::ComputeRGBDOdometry(*source, *target, intrinsic,
odo_init, jacobian_method,
option);
}
std::cout << "Estimated 4x4 motion matrix : " << std::endl;
std::cout << trans_odo << std::endl;
std::cout << "Estimated 6x6 information matrix : " << std::endl;
std::cout << info_odo << std::endl;
return int(!is_success);
}
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