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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/optimize_posegraph.py
import open3d as o3d
from os.path import join
def run_posegraph_optimization(pose_graph_name, pose_graph_optimized_name,
max_correspondence_distance,
preference_loop_closure):
# to display messages from o3d.pipelines.registration.global_optimization
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
method = o3d.pipelines.registration.GlobalOptimizationLevenbergMarquardt()
criteria = o3d.pipelines.registration.GlobalOptimizationConvergenceCriteria(
)
option = o3d.pipelines.registration.GlobalOptimizationOption(
max_correspondence_distance=max_correspondence_distance,
edge_prune_threshold=0.25,
preference_loop_closure=preference_loop_closure,
reference_node=0)
pose_graph = o3d.io.read_pose_graph(pose_graph_name)
o3d.pipelines.registration.global_optimization(pose_graph, method, criteria,
option)
o3d.io.write_pose_graph(pose_graph_optimized_name, pose_graph)
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)
def optimize_posegraph_for_fragment(path_dataset, fragment_id, config):
pose_graph_name = join(path_dataset,
config["template_fragment_posegraph"] % fragment_id)
pose_graph_optimized_name = join(
path_dataset,
config["template_fragment_posegraph_optimized"] % fragment_id)
run_posegraph_optimization(pose_graph_name, pose_graph_optimized_name,
max_correspondence_distance = config["depth_diff_max"],
preference_loop_closure = \
config["preference_loop_closure_odometry"])
def optimize_posegraph_for_scene(path_dataset, config):
pose_graph_name = join(path_dataset, config["template_global_posegraph"])
pose_graph_optimized_name = join(
path_dataset, config["template_global_posegraph_optimized"])
run_posegraph_optimization(pose_graph_name, pose_graph_optimized_name,
max_correspondence_distance = config["voxel_size"] * 1.4,
preference_loop_closure = \
config["preference_loop_closure_registration"])
def optimize_posegraph_for_refined_scene(path_dataset, config):
pose_graph_name = join(path_dataset, config["template_refined_posegraph"])
pose_graph_optimized_name = join(
path_dataset, config["template_refined_posegraph_optimized"])
run_posegraph_optimization(pose_graph_name, pose_graph_optimized_name,
max_correspondence_distance = config["voxel_size"] * 1.4,
preference_loop_closure = \
config["preference_loop_closure_registration"])
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