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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.
# ----------------------------------------------------------------------------
# examples/python/reconstruction_system/debug/pairwise_rgbd_alignment.py
import argparse
import json
import sys
import open3d as o3d
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import *
sys.path.append(".")
from initialize_config import *
from make_fragments import *
def test_single_pair(s, t, color_files, depth_files, intrinsic, with_opencv,
config):
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
[success, trans,
info] = register_one_rgbd_pair(s, t, color_files, depth_files, intrinsic,
with_opencv, config)
print(trans)
print(info)
print(intrinsic)
source_rgbd_image = read_rgbd_image(color_files[s], depth_files[s], False,
config)
target_rgbd_image = read_rgbd_image(color_files[t], depth_files[t], False,
config)
source = o3d.geometry.PointCloud.create_from_rgbd_image(
source_rgbd_image, intrinsic)
target = o3d.geometry.PointCloud.create_from_rgbd_image(
target_rgbd_image, intrinsic)
draw_geometries_flip([source, target])
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="matching two RGBD images")
parser.add_argument("config", help="path to the config file")
parser.add_argument("source_id", type=int, help="ID of source RGBD image")
parser.add_argument("target_id", type=int, help="ID of target RGBD image")
parser.add_argument("--path_intrinsic",
help="path to the RGBD camera intrinsic")
args = parser.parse_args()
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
with_opencv = initialize_opencv()
if with_opencv:
from opencv_pose_estimation import pose_estimation
[color_files, depth_files] = get_rgbd_file_lists(config["path_dataset"])
if args.path_intrinsic:
intrinsic = o3d.io.read_pinhole_camera_intrinsic(
args.path_intrinsic)
else:
intrinsic = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
test_single_pair(args.source_id, args.target_id, color_files,
depth_files, intrinsic, with_opencv, config)
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