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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/slac.py
import numpy as np
import open3d as o3d
import os, sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import join, get_file_list, write_poses_to_log
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
def run(config):
print("slac non-rigid optimization.")
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
path_dataset = config['path_dataset']
ply_file_names = get_file_list(
join(config["path_dataset"], config["folder_fragment"]), ".ply")
if (len(ply_file_names) == 0):
raise RuntimeError(
"No fragment found in {}, please make sure the reconstruction_system has finished running on the dataset."
.format(join(config["path_dataset"], config["folder_fragment"])))
pose_graph_fragment = o3d.io.read_pose_graph(
join(path_dataset, config["template_refined_posegraph_optimized"]))
# SLAC optimizer parameters.
slac_params = o3d.t.pipelines.slac.slac_optimizer_params(
max_iterations=config["max_iterations"],
voxel_size=config["voxel_size"],
distance_threshold=config["distance_threshold"],
fitness_threshold=config["fitness_threshold"],
regularizer_weight=config["regularizer_weight"],
device=o3d.core.Device(str(config["device"])),
slac_folder=join(path_dataset, config["folder_slac"]))
# SLAC debug option.
debug_option = o3d.t.pipelines.slac.slac_debug_option(False, 0)
# Run the system.
pose_graph_updated = o3d.pipelines.registration.PoseGraph()
# rigid optimization method.
if (config["method"] == "rigid"):
pose_graph_updated = o3d.t.pipelines.slac.run_rigid_optimizer_for_fragments(
ply_file_names, pose_graph_fragment, slac_params, debug_option)
elif (config["method"] == "slac"):
pose_graph_updated, ctrl_grid = o3d.t.pipelines.slac.run_slac_optimizer_for_fragments(
ply_file_names, pose_graph_fragment, slac_params, debug_option)
hashmap = ctrl_grid.get_hashmap()
active_buf_indices = hashmap.active_buf_indices().to(
o3d.core.Dtype.Int64)
key_tensor = hashmap.key_tensor()[active_buf_indices]
key_tensor.save(
join(slac_params.get_subfolder_name(), "ctr_grid_keys.npy"))
value_tensor = hashmap.value_tensor()[active_buf_indices]
value_tensor.save(
join(slac_params.get_subfolder_name(), "ctr_grid_values.npy"))
else:
raise RuntimeError(
"Requested optimization method {}, is not implemented. Implemented methods includes slac and rigid."
.format(config["method"]))
# Write updated pose graph.
o3d.io.write_pose_graph(
join(slac_params.get_subfolder_name(),
config["template_optimized_posegraph_slac"]), pose_graph_updated)
# Write trajectory for slac-integrate stage.
fragment_folder = join(path_dataset, config["folder_fragment"])
params = []
for i in range(len(pose_graph_updated.nodes)):
fragment_pose_graph = o3d.io.read_pose_graph(
join(fragment_folder, "fragment_optimized_%03d.json" % i))
for node in fragment_pose_graph.nodes:
pose = np.dot(pose_graph_updated.nodes[i].pose, node.pose)
param = o3d.camera.PinholeCameraParameters()
param.extrinsic = np.linalg.inv(pose)
params.append(param)
trajectory = o3d.camera.PinholeCameraTrajectory()
trajectory.parameters = params
o3d.io.write_pinhole_camera_trajectory(
slac_params.get_subfolder_name() + "/optimized_trajectory_" +
str(config["method"]) + ".log", trajectory)
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