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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/initialize_config.py
import open3d as o3d
import os
import sys
import json
from os.path import isfile, join, splitext, dirname, basename
from warnings import warn
from data_loader import lounge_data_loader, bedroom_data_loader, jackjack_data_loader
def extract_rgbd_frames(rgbd_video_file):
"""
Extract color and aligned depth frames and intrinsic calibration from an
RGBD video file (currently only RealSense bag files supported). Folder
structure is:
<directory of rgbd_video_file/<rgbd_video_file name without extension>/
{depth/00000.jpg,color/00000.png,intrinsic.json}
"""
frames_folder = join(dirname(rgbd_video_file),
basename(splitext(rgbd_video_file)[0]))
path_intrinsic = join(frames_folder, "intrinsic.json")
if isfile(path_intrinsic):
warn(f"Skipping frame extraction for {rgbd_video_file} since files are"
" present.")
else:
rgbd_video = o3d.t.io.RGBDVideoReader.create(rgbd_video_file)
rgbd_video.save_frames(frames_folder)
with open(path_intrinsic) as intr_file:
intr = json.load(intr_file)
depth_scale = intr["depth_scale"]
return frames_folder, path_intrinsic, depth_scale
def set_default_value(config, key, value):
if key not in config:
config[key] = value
def initialize_config(config):
# set default parameters if not specified
set_default_value(config, "depth_map_type", "redwood")
set_default_value(config, "n_frames_per_fragment", 100)
set_default_value(config, "n_keyframes_per_n_frame", 5)
set_default_value(config, "depth_min", 0.3)
set_default_value(config, "depth_max", 3.0)
set_default_value(config, "voxel_size", 0.05)
set_default_value(config, "depth_diff_max", 0.07)
set_default_value(config, "depth_scale", 1000)
set_default_value(config, "preference_loop_closure_odometry", 0.1)
set_default_value(config, "preference_loop_closure_registration", 5.0)
set_default_value(config, "tsdf_cubic_size", 3.0)
set_default_value(config, "icp_method", "color")
set_default_value(config, "global_registration", "ransac")
set_default_value(config, "python_multi_threading", True)
# `slac` and `slac_integrate` related parameters.
# `voxel_size` and `depth_min` parameters from previous section,
# are also used in `slac` and `slac_integrate`.
set_default_value(config, "max_iterations", 5)
set_default_value(config, "sdf_trunc", 0.04)
set_default_value(config, "block_count", 40000)
set_default_value(config, "distance_threshold", 0.07)
set_default_value(config, "fitness_threshold", 0.3)
set_default_value(config, "regularizer_weight", 1)
set_default_value(config, "method", "slac")
set_default_value(config, "device", "CPU:0")
set_default_value(config, "save_output_as", "pointcloud")
set_default_value(config, "folder_slac", "slac/")
set_default_value(config, "template_optimized_posegraph_slac",
"optimized_posegraph_slac.json")
# path related parameters.
set_default_value(config, "folder_fragment", "fragments/")
set_default_value(config, "subfolder_slac",
"slac/%0.3f/" % config["voxel_size"])
set_default_value(config, "template_fragment_posegraph",
"fragments/fragment_%03d.json")
set_default_value(config, "template_fragment_posegraph_optimized",
"fragments/fragment_optimized_%03d.json")
set_default_value(config, "template_fragment_pointcloud",
"fragments/fragment_%03d.ply")
set_default_value(config, "folder_scene", "scene/")
set_default_value(config, "template_global_posegraph",
"scene/global_registration.json")
set_default_value(config, "template_global_posegraph_optimized",
"scene/global_registration_optimized.json")
set_default_value(config, "template_refined_posegraph",
"scene/refined_registration.json")
set_default_value(config, "template_refined_posegraph_optimized",
"scene/refined_registration_optimized.json")
set_default_value(config, "template_global_mesh", "scene/integrated.ply")
set_default_value(config, "template_global_traj", "scene/trajectory.log")
if config["path_dataset"].endswith(".bag"):
assert os.path.isfile(config["path_dataset"]), (
f"File {config['path_dataset']} not found.")
print("Extracting frames from RGBD video file")
config["path_dataset"], config["path_intrinsic"], config[
"depth_scale"] = extract_rgbd_frames(config["path_dataset"])
def dataset_loader(dataset_name):
print('Config file was not passed. Using deafult dataset.')
# Load the dataset and config.
config = {}
if dataset_name == 'lounge':
config = lounge_data_loader()
elif dataset_name == 'bedroom':
config = bedroom_data_loader()
elif dataset_name == 'jack_jack':
config = jackjack_data_loader()
else:
print(
"The requested dataset is not available. Available dataset options include lounge and jack_jack."
)
sys.exit(1)
# Set the default values for non-specified parameters.
initialize_config(config)
print('Loaded data from {}'.format(config['path_dataset']))
return config
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