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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.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import os, sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import read_trajectory
if __name__ == "__main__":
rgbd_data = o3d.data.SampleRedwoodRGBDImages()
camera_poses = read_trajectory(rgbd_data.odometry_log_path)
camera_intrinsics = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
volume = o3d.pipelines.integration.UniformTSDFVolume(
length=4.0,
resolution=512,
sdf_trunc=0.04,
color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8,
)
for i in range(len(camera_poses)):
print("Integrate {:d}-th image into the volume.".format(i))
color = o3d.io.read_image(rgbd_data.color_paths[i])
depth = o3d.io.read_image(rgbd_data.depth_paths[i])
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
color, depth, depth_trunc=4.0, convert_rgb_to_intensity=False)
volume.integrate(
rgbd,
camera_intrinsics,
np.linalg.inv(camera_poses[i].pose),
)
print("Extract triangle mesh")
mesh = volume.extract_triangle_mesh()
mesh.compute_vertex_normals()
o3d.visualization.draw_geometries([mesh])
print("Extract voxel-aligned debugging point cloud")
voxel_pcd = volume.extract_voxel_point_cloud()
o3d.visualization.draw_geometries([voxel_pcd])
print("Extract voxel-aligned debugging voxel grid")
voxel_grid = volume.extract_voxel_grid()
# o3d.visualization.draw_geometries([voxel_grid])
# print("Extract point cloud")
# pcd = volume.extract_point_cloud()
# o3d.visualization.draw_geometries([pcd])
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