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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 <chrono>
#include <memory>
#include <string>
#include "OnlineSLAMUtil.h"
#include "open3d/Open3D.h"
std::pair<std::vector<std::string>, std::vector<std::string>> LoadFilenames(
const std::string dataset_path) {
using namespace open3d;
std::vector<std::string> rgb_candidates{"color", "image", "rgb"};
std::vector<std::string> rgb_files;
// Load rgb
for (auto rgb_candidate : rgb_candidates) {
const std::string rgb_dir = dataset_path + "/" + rgb_candidate;
utility::filesystem::ListFilesInDirectoryWithExtension(rgb_dir, "jpg",
rgb_files);
if (rgb_files.size() != 0) break;
utility::filesystem::ListFilesInDirectoryWithExtension(rgb_dir, "png",
rgb_files);
if (rgb_files.size() != 0) break;
}
if (rgb_files.size() == 0) {
utility::LogError(
"RGB images not found! Please ensure a folder named color, "
"image, or rgb is in {}",
dataset_path);
}
const std::string depth_dir = dataset_path + "/depth";
std::vector<std::string> depth_files;
utility::filesystem::ListFilesInDirectoryWithExtension(depth_dir, "png",
depth_files);
if (depth_files.size() == 0) {
utility::LogError(
"Depth images not found! Please ensure a folder named "
"depth is in {}",
dataset_path);
}
if (depth_files.size() != rgb_files.size()) {
utility::LogError(
"Number of depth images ({}) and color image ({}) "
"mismatch!",
dataset_path);
}
std::sort(rgb_files.begin(), rgb_files.end());
std::sort(depth_files.begin(), depth_files.end());
return std::make_pair(rgb_files, depth_files);
}
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > OnlineSLAMRGBD [options]");
utility::LogInfo("Basic options:");
utility::LogInfo(" [-V]");
utility::LogInfo(" [--dataset_path /path/to/dataset]");
utility::LogInfo(" - To use your own dataset, pass the path");
utility::LogInfo(" to the dataset root folder containing");
utility::LogInfo(" `image` and `depth` folder. If not");
utility::LogInfo(" provided, default dataset will be used.");
utility::LogInfo(" [--intrinsic_path camera_intrinsic.json]");
utility::LogInfo(" [--align]");
utility::LogInfo(" [--device CUDA:0]");
utility::LogInfo(" [--default_dataset lounge]");
utility::LogInfo(" - To change default dataset (used when");
utility::LogInfo(" dataset_path is not set).");
utility::LogInfo(" Available options: `lounge` and `bedroom`.");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
using namespace open3d::visualization;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc < 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
bool use_default_dataset = true;
std::string dataset_path =
utility::GetProgramOptionAsString(argc, argv, "--dataset_path", "");
if (!dataset_path.empty()) {
if (!utility::filesystem::DirectoryExists(dataset_path)) {
utility::LogError(
"Expected an existing directory, but {} does not exist.",
dataset_path);
}
use_default_dataset = false;
}
if (use_default_dataset) {
const std::string default_dataset = utility::GetProgramOptionAsString(
argc, argv, "--default_dataset", "lounge");
if (default_dataset == "lounge") {
data::LoungeRGBDImages dataset;
dataset_path = dataset.GetExtractDir();
} else if (default_dataset == "bedroom") {
data::BedroomRGBDImages dataset;
dataset_path = dataset.GetExtractDir();
} else {
utility::LogError(
"The default_dataset {}, is not available. Please select "
"from `lounge` (default) and `bedroom` dataset.",
default_dataset);
}
}
if (utility::ProgramOptionExists(argc, argv, "-V")) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
} else {
utility::SetVerbosityLevel(utility::VerbosityLevel::Info);
}
std::string intrinsic_path = utility::GetProgramOptionAsString(
argc, argv, "--intrinsics_path", "");
bool align_streams = false;
if (utility::ProgramOptionExists(argc, argv, "--align")) {
align_streams = true;
}
std::string device_code =
utility::GetProgramOptionAsString(argc, argv, "--device", "CUDA:0");
core::Device device(device_code);
utility::LogInfo("Using device {}.", device_code);
// Load files
std::vector<std::string> rgb_files, depth_files;
std::tie(rgb_files, depth_files) = LoadFilenames(dataset_path);
// Load intrinsics (if provided)
// Default
camera::PinholeCameraIntrinsic intrinsic = camera::PinholeCameraIntrinsic(
camera::PinholeCameraIntrinsicParameters::PrimeSenseDefault);
if (intrinsic_path.empty()) {
utility::LogInfo("Using Primesense default intrinsics.");
} else if (!io::ReadIJsonConvertible(intrinsic_path, intrinsic)) {
utility::LogWarning(
"Failed to load {}, using Primesense default intrinsics.",
intrinsic_path);
} else {
utility::LogInfo("Loaded intrinsics from {}.", intrinsic_path);
}
core::Tensor intrinsic_t = core::eigen_converter::EigenMatrixToTensor(
intrinsic.intrinsic_matrix_);
const size_t max_idx = depth_files.size();
auto get_rgbd_image_input = [&](const size_t idx) {
if (idx < max_idx) {
t::geometry::Image depth =
*t::io::CreateImageFromFile(depth_files[idx]);
t::geometry::Image color =
*t::io::CreateImageFromFile(rgb_files[idx]);
t::geometry::RGBDImage rgbd_im(color, depth, align_streams);
return rgbd_im;
} else {
// Return empty image to indicate EOF.
return t::geometry::RGBDImage();
}
};
std::unordered_map<std::string, double> default_params = {
{"depth_scale", 1000}};
auto& app = gui::Application::GetInstance();
app.Initialize(argc, const_cast<const char**>(argv));
auto mono =
app.AddFont(gui::FontDescription(gui::FontDescription::MONOSPACE));
app.AddWindow(std::make_shared<examples::online_slam::ReconstructionWindow>(
get_rgbd_image_input, intrinsic_t, default_params, device, mono));
app.Run();
return 0;
}
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