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
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
|
# ----------------------------------------------------------------------------
# - 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/run_system.py
import json
import argparse
import time
import datetime
import os, sys
from os.path import isfile
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 check_folder_structure
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
from initialize_config import initialize_config, dataset_loader
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Reconstruction system")
parser.add_argument("--config",
help="path to the config file",
default=None)
parser.add_argument("--default_dataset",
help="(optional) default dataset to be used, only if "
"config file is not provided. "
"Options: [lounge, bedroom, jack_jack]",
type=str,
default="lounge")
parser.add_argument("--make",
help="Step 1) make fragments from RGBD sequence.",
action="store_true")
parser.add_argument(
"--register",
help="Step 2) register all fragments to detect loop closure.",
action="store_true")
parser.add_argument("--refine",
help="Step 3) refine rough registrations",
action="store_true")
parser.add_argument(
"--integrate",
help="Step 4) integrate the whole RGBD sequence to make final mesh.",
action="store_true")
parser.add_argument(
"--slac",
help="Step 5) (optional) run slac optimization for fragments.",
action="store_true")
parser.add_argument(
"--slac_integrate",
help="Step 6) (optional) integrate fragments using slac to make final "
"pointcloud / mesh.",
action="store_true")
parser.add_argument("--debug_mode",
help="turn on debug mode.",
action="store_true")
parser.add_argument(
'--device',
help="(optional) select processing device for slac and slac_integrate. "
"[example: cpu:0, cuda:0].",
type=str,
default='cpu:0')
args = parser.parse_args()
if not args.make and \
not args.register and \
not args.refine and \
not args.integrate and \
not args.slac and \
not args.slac_integrate:
parser.print_help(sys.stderr)
sys.exit(1)
# load dataset and check folder structure
if args.config is not None:
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
check_folder_structure(config['path_dataset'])
else:
# load deafult dataset.
config = dataset_loader(args.default_dataset)
assert config is not None
if args.debug_mode:
config['debug_mode'] = True
else:
config['debug_mode'] = False
config['device'] = args.device
print("====================================")
print("Configuration")
print("====================================")
for key, val in config.items():
print("%40s : %s" % (key, str(val)))
times = [0, 0, 0, 0, 0, 0]
if args.make:
start_time = time.time()
import make_fragments
make_fragments.run(config)
times[0] = time.time() - start_time
if args.register:
start_time = time.time()
import register_fragments
register_fragments.run(config)
times[1] = time.time() - start_time
if args.refine:
start_time = time.time()
import refine_registration
refine_registration.run(config)
times[2] = time.time() - start_time
if args.integrate:
start_time = time.time()
import integrate_scene
integrate_scene.run(config)
times[3] = time.time() - start_time
if args.slac:
start_time = time.time()
import slac
slac.run(config)
times[4] = time.time() - start_time
if args.slac_integrate:
start_time = time.time()
import slac_integrate
slac_integrate.run(config)
times[5] = time.time() - start_time
print("====================================")
print("Elapsed time (in h:m:s)")
print("====================================")
print("- Making fragments %s" % datetime.timedelta(seconds=times[0]))
print("- Register fragments %s" % datetime.timedelta(seconds=times[1]))
print("- Refine registration %s" % datetime.timedelta(seconds=times[2]))
print("- Integrate frames %s" % datetime.timedelta(seconds=times[3]))
print("- SLAC %s" % datetime.timedelta(seconds=times[4]))
print("- SLAC Integrate %s" % datetime.timedelta(seconds=times[5]))
print("- Total %s" % datetime.timedelta(seconds=sum(times)))
sys.stdout.flush()
|
