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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/integrate_scene.py
import numpy as np
import math
import os, 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 *
def scalable_integrate_rgb_frames(path_dataset, intrinsic, config):
poses = []
[color_files, depth_files] = get_rgbd_file_lists(path_dataset)
n_files = len(color_files)
n_fragments = int(math.ceil(float(n_files) / \
config['n_frames_per_fragment']))
volume = o3d.pipelines.integration.ScalableTSDFVolume(
voxel_length=config["tsdf_cubic_size"] / 512.0,
sdf_trunc=0.04,
color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8)
pose_graph_fragment = o3d.io.read_pose_graph(
join(path_dataset, config["template_refined_posegraph_optimized"]))
for fragment_id in range(len(pose_graph_fragment.nodes)):
pose_graph_rgbd = o3d.io.read_pose_graph(
join(path_dataset,
config["template_fragment_posegraph_optimized"] % fragment_id))
for frame_id in range(len(pose_graph_rgbd.nodes)):
frame_id_abs = fragment_id * \
config['n_frames_per_fragment'] + frame_id
print(
"Fragment %03d / %03d :: integrate rgbd frame %d (%d of %d)." %
(fragment_id, n_fragments - 1, frame_id_abs, frame_id + 1,
len(pose_graph_rgbd.nodes)))
rgbd = read_rgbd_image(color_files[frame_id_abs],
depth_files[frame_id_abs], False, config)
pose = np.dot(pose_graph_fragment.nodes[fragment_id].pose,
pose_graph_rgbd.nodes[frame_id].pose)
volume.integrate(rgbd, intrinsic, np.linalg.inv(pose))
poses.append(pose)
mesh = volume.extract_triangle_mesh()
mesh.compute_vertex_normals()
if config["debug_mode"]:
o3d.visualization.draw_geometries([mesh])
mesh_name = join(path_dataset, config["template_global_mesh"])
o3d.io.write_triangle_mesh(mesh_name, mesh, False, True)
traj_name = join(path_dataset, config["template_global_traj"])
write_poses_to_log(traj_name, poses)
def run(config):
print("integrate the whole RGBD sequence using estimated camera pose.")
if config["path_intrinsic"]:
intrinsic = o3d.io.read_pinhole_camera_intrinsic(
config["path_intrinsic"])
else:
intrinsic = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
scalable_integrate_rgb_frames(config["path_dataset"], intrinsic, config)
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