1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
# ----------------------------------------------------------------------------
# - 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/visualize_alignment.py
import numpy as np
import json
import argparse
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 *
def list_posegraph_files(folder_posegraph):
pose_graph_paths = get_file_list(folder_posegraph, ".json")
for pose_graph_path in pose_graph_paths:
pose_graph = o3d.io.read_pose_graph(pose_graph_path)
n_nodes = len(pose_graph.nodes)
n_edges = len(pose_graph.edges)
print(
"Fragment o3d.pipelines.registration.PoseGraph %s has %d nodes and %d edges"
% (pose_graph_path, n_nodes, n_edges))
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="visualize pose graph")
parser.add_argument("config", help="path to the config file")
parser.add_argument("--source_id", type=int, help="ID of source fragment")
parser.add_argument("--target_id", type=int, help="ID of target fragment")
parser.add_argument("--adjacent",
help="visualize adjacent pairs",
action="store_true")
parser.add_argument("--all",
help="visualize all pairs",
action="store_true")
parser.add_argument("--list_posegraphs",
help="list number of node and edges of all pose graphs",
action="store_true")
parser.add_argument("--before_optimized",
help="visualize posegraph edges that is not optimized",
action="store_true")
args = parser.parse_args()
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
ply_file_names = get_file_list(
join(config["path_dataset"], config["folder_fragment"]), ".ply")
if (args.list_posegraphs):
list_posegraph_files(
join(config["path_dataset"], config["folder_fragment"]))
list_posegraph_files(
join(config["path_dataset"], config["folder_scene"]))
if (args.before_optimized):
global_pose_graph_name = join(config["path_dataset"],
config["template_global_posegraph"])
else:
global_pose_graph_name = join(
config["path_dataset"],
config["template_refined_posegraph_optimized"])
print("Reading posegraph")
print(global_pose_graph_name)
pose_graph = o3d.io.read_pose_graph(global_pose_graph_name)
n_nodes = len(pose_graph.nodes)
n_edges = len(pose_graph.edges)
print("Global o3d.pipelines.registration.PoseGraph having %d nodes and %d edges" % \
(n_nodes, n_edges))
# visualize alignment of posegraph edges
for edge in pose_graph.edges:
print("o3d.pipelines.registration.PoseGraphEdge %d-%d" % \
(edge.source_node_id, edge.target_node_id))
if ((args.adjacent and \
edge.target_node_id - edge.source_node_id == 1)) or \
(not args.adjacent and
(args.source_id == edge.source_node_id and \
args.target_id == edge.target_node_id)) or \
args.all:
print(" confidence : %.3f" % edge.confidence)
source = o3d.io.read_point_cloud(
ply_file_names[edge.source_node_id])
target = o3d.io.read_point_cloud(
ply_file_names[edge.target_node_id])
source_down = source.voxel_down_sample(config["voxel_size"])
target_down = target.voxel_down_sample(config["voxel_size"])
print("original registration")
draw_registration_result(source_down, target_down,
edge.transformation)
print("optimized registration")
source_down.transform(
pose_graph.nodes[edge.source_node_id].pose)
target_down.transform(
pose_graph.nodes[edge.target_node_id].pose)
draw_registration_result(source_down, target_down,
np.identity(4))
|
