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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"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > OnlineSLAMRealSense [options]");
utility::LogInfo("Basic options:");
utility::LogInfo(" [-V]");
utility::LogInfo(" [--use_bag_file /path/to/realsense_video_file.bag] If not provided, it will look for realsense sensor.");
utility::LogInfo(" [-l|--list-devices]");
utility::LogInfo(" [--align]");
utility::LogInfo(" [--record rgbd_video_file.bag]");
utility::LogInfo(" [-c|--config rs-config.json]");
utility::LogInfo(" [--device CUDA:0]");
// 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 < 2 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
std::string bag_file;
bool use_bag_file = false;
if (utility::ProgramOptionExists(argc, argv, "--use_bag_file")) {
bag_file =
utility::GetProgramOptionAsString(argc, argv, "--use_bag_file");
}
if (!bag_file.empty()) {
use_bag_file = true;
}
if (utility::ProgramOptionExists(argc, argv, "--list-devices") ||
utility::ProgramOptionExists(argc, argv, "-l")) {
t::io::RealSenseSensor::ListDevices();
return 0;
}
if (utility::ProgramOptionExists(argc, argv, "-V")) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
} else {
utility::SetVerbosityLevel(utility::VerbosityLevel::Info);
}
bool align_streams = false;
std::string config_file, record_to_bag_file;
if (utility::ProgramOptionExists(argc, argv, "-c")) {
config_file = utility::GetProgramOptionAsString(argc, argv, "-c");
} else if (utility::ProgramOptionExists(argc, argv, "--config")) {
config_file = utility::GetProgramOptionAsString(argc, argv, "--config");
}
if (utility::ProgramOptionExists(argc, argv, "--align")) {
align_streams = true;
}
if (utility::ProgramOptionExists(argc, argv, "--record")) {
record_to_bag_file =
utility::GetProgramOptionAsString(argc, argv, "--record");
}
std::string device_code =
utility::GetProgramOptionAsString(argc, argv, "--device", "CUDA:0");
core::Device device(device_code);
utility::LogInfo("Using device {}.", device_code);
std::function<t::geometry::RGBDImage(const int)> get_rgbd_image_input;
core::Tensor intrinsic_t;
std::unordered_map<std::string, double> default_params;
t::io::RealSenseSensor rs;
t::io::RSBagReader bag_reader;
if (!use_bag_file) {
// Read in camera configuration.
t::io::RealSenseSensorConfig rs_cfg;
if (!config_file.empty())
open3d::io::ReadIJsonConvertible(config_file, rs_cfg);
// Initialize camera.
rs.ListDevices();
rs.InitSensor(rs_cfg, 0, record_to_bag_file);
utility::LogInfo("{}", rs.GetMetadata().ToString());
rs.StartCapture();
get_rgbd_image_input = [&](const size_t idx) {
return rs.CaptureFrame(true, align_streams);
};
intrinsic_t = core::eigen_converter::EigenMatrixToTensor(
rs.GetMetadata().intrinsics_.intrinsic_matrix_);
default_params = {{"depth_scale", rs.GetMetadata().depth_scale_}};
} else {
// Use Bag File.
bag_reader.Open(bag_file);
if (!bag_reader.IsOpened()) {
utility::LogError("Unable to open {}", bag_file);
return 1;
}
const auto bag_metadata = bag_reader.GetMetadata();
utility::LogInfo("{}", bag_metadata.ToString());
auto next_frame = bag_reader.NextFrame();
get_rgbd_image_input = [&](const int idx) {
if (!bag_reader.IsEOF()) {
return bag_reader.NextFrame();
} else {
// Return empty image.
return open3d::t::geometry::RGBDImage();
}
};
intrinsic_t = core::eigen_converter::EigenMatrixToTensor(
bag_metadata.intrinsics_.intrinsic_matrix_);
default_params = {{"depth_scale", bag_metadata.depth_scale_}};
}
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();
if (!use_bag_file) {
rs.StopCapture();
} else {
bag_reader.Close();
}
return 0;
}
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