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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/Open3D.h"
using namespace open3d;
using namespace open3d::core;
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > TIntegrateRGBD [color_folder] [depth_folder] [trajectory] [options]");
utility::LogInfo(" Given RGBD images, reconstruct mesh or point cloud from color and depth images");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --voxel_size [=0.0058 (m)]");
utility::LogInfo(" --intrinsic_path [camera_intrinsic]");
utility::LogInfo(" --depth_scale [=1000.0]");
utility::LogInfo(" --depth_max [=3.0]");
utility::LogInfo(" --device [CPU:0]");
utility::LogInfo(" --raycast");
utility::LogInfo(" --mesh");
utility::LogInfo(" --pointcloud");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
if (argc < 4 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
// Color and depth
std::string color_folder = std::string(argv[1]);
std::string depth_folder = std::string(argv[2]);
std::vector<std::string> color_filenames;
utility::filesystem::ListFilesInDirectory(color_folder, color_filenames);
std::sort(color_filenames.begin(), color_filenames.end());
std::vector<std::string> depth_filenames;
utility::filesystem::ListFilesInDirectory(depth_folder, depth_filenames);
std::sort(depth_filenames.begin(), depth_filenames.end());
if (color_filenames.size() != depth_filenames.size()) {
utility::LogError(
"The numbers of color and depth files mismatch. "
"Please provide folders with same number of images.");
}
// Trajectory
std::string trajectory_path = std::string(argv[3]);
auto trajectory =
io::CreatePinholeCameraTrajectoryFromFile(trajectory_path);
// Intrinsics
std::string intrinsic_path = utility::GetProgramOptionAsString(
argc, argv, "--intrinsic_path", "");
camera::PinholeCameraIntrinsic intrinsic = camera::PinholeCameraIntrinsic(
camera::PinholeCameraIntrinsicParameters::PrimeSenseDefault);
if (intrinsic_path.empty()) {
utility::LogWarning("Using default Primesense intrinsics");
} else if (!io::ReadIJsonConvertible(intrinsic_path, intrinsic)) {
utility::LogError("Unable to convert json to intrinsics.");
}
auto focal_length = intrinsic.GetFocalLength();
auto principal_point = intrinsic.GetPrincipalPoint();
Tensor intrinsic_t = Tensor::Init<double>(
{{focal_length.first, 0, principal_point.first},
{0, focal_length.second, principal_point.second},
{0, 0, 1}});
int block_count =
utility::GetProgramOptionAsInt(argc, argv, "--block_count", 1000);
float voxel_size = static_cast<float>(utility::GetProgramOptionAsDouble(
argc, argv, "--voxel_size", 3.f / 512.f));
float depth_scale = static_cast<float>(utility::GetProgramOptionAsDouble(
argc, argv, "--depth_scale", 1000.f));
float depth_max = static_cast<float>(
utility::GetProgramOptionAsDouble(argc, argv, "--depth_max", 3.f));
bool enable_raycast = utility::ProgramOptionExists(argc, argv, "--raycast");
bool debug = utility::ProgramOptionExists(argc, argv, "--debug");
// Device
std::string device_code = "CPU:0";
if (utility::ProgramOptionExists(argc, argv, "--device")) {
device_code = utility::GetProgramOptionAsString(argc, argv, "--device");
}
core::Device device(device_code);
utility::LogInfo("Using device: {}", device.ToString());
t::geometry::VoxelBlockGrid voxel_grid(
{"tsdf", "weight", "color"},
{core::Dtype::Float32, core::Dtype::Float32, core::Dtype::Float32},
{{1}, {1}, {3}}, voxel_size, 16, block_count, device);
double time_total = 0;
double time_int = 0;
double time_raycasting = 0;
for (size_t i = 0; i < trajectory->parameters_.size(); ++i) {
utility::Timer timer;
timer.Start();
// Load image
utility::Timer timer_io;
timer_io.Start();
t::geometry::Image depth =
(*t::io::CreateImageFromFile(depth_filenames[i]));
t::geometry::Image color =
(*t::io::CreateImageFromFile(color_filenames[i]));
timer_io.Stop();
utility::LogInfo("IO takes {}", timer_io.GetDurationInMillisecond());
timer_io.Start();
depth = depth.To(device);
color = color.To(device);
timer_io.Stop();
utility::LogInfo("Conversion takes {}",
timer_io.GetDurationInMillisecond());
Eigen::Matrix4d extrinsic = trajectory->parameters_[i].extrinsic_;
Tensor extrinsic_t =
core::eigen_converter::EigenMatrixToTensor(extrinsic);
utility::Timer int_timer;
int_timer.Start();
core::Tensor frustum_block_coords =
voxel_grid.GetUniqueBlockCoordinates(depth, intrinsic_t,
extrinsic_t, depth_scale,
depth_max);
voxel_grid.Integrate(frustum_block_coords, depth, color, intrinsic_t,
extrinsic_t);
int_timer.Stop();
utility::LogInfo("{}: Integration takes {}", i,
int_timer.GetDurationInMillisecond());
time_int += int_timer.GetDurationInMillisecond();
if (enable_raycast) {
utility::Timer ray_timer;
ray_timer.Start();
auto result = voxel_grid.RayCast(
frustum_block_coords, intrinsic_t, extrinsic_t,
depth.GetCols(), depth.GetRows(), {"depth", "color"},
depth_scale, 0.1, depth_max, std::min(i * 1.0f, 3.0f));
ray_timer.Stop();
utility::LogInfo("{}: Raycast takes {}", i,
ray_timer.GetDurationInMillisecond());
time_raycasting += ray_timer.GetDurationInMillisecond();
if (debug) {
t::geometry::Image depth_raycast(result["depth"]);
visualization::DrawGeometries(
{std::make_shared<open3d::geometry::Image>(
depth_raycast
.ColorizeDepth(depth_scale, 0.1,
depth_max)
.ToLegacy())});
t::geometry::Image color_raycast(result["color"]);
visualization::DrawGeometries(
{std::make_shared<open3d::geometry::Image>(
color_raycast.ToLegacy())});
}
}
timer.Stop();
utility::LogInfo("{}: Per iteration takes {}", i,
timer.GetDurationInMillisecond());
time_total += timer.GetDurationInMillisecond();
}
size_t n = trajectory->parameters_.size();
utility::LogInfo("per frame: {}, ray casting: {}, integration: {}",
time_total / n, time_raycasting / n, time_int / n);
if (utility::ProgramOptionExists(argc, argv, "--mesh")) {
auto mesh = voxel_grid.ExtractTriangleMesh(3.0f);
auto mesh_legacy =
std::make_shared<geometry::TriangleMesh>(mesh.ToLegacy());
open3d::io::WriteTriangleMesh("mesh_" + device.ToString() + ".ply",
*mesh_legacy);
}
if (utility::ProgramOptionExists(argc, argv, "--pointcloud")) {
auto pcd = voxel_grid.ExtractPointCloud(3.0f);
auto pcd_legacy =
std::make_shared<open3d::geometry::PointCloud>(pcd.ToLegacy());
open3d::io::WritePointCloud("pcd_" + device.ToString() + ".ply",
*pcd_legacy);
}
if (utility::ProgramOptionExists(argc, argv, "--tsdf")) {
voxel_grid.Save("tsdf.npz");
}
return 0;
}
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