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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_integrate.py
import numpy as np
import open3d as o3d
import open3d.core as o3c
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_rgbd_file_lists
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)
# dataset path and slac subfolder path
# slac default subfolder for 0.050 voxel size: `dataset/slac/0.050/`.
path_dataset = config["path_dataset"]
slac_folder = join(path_dataset, config["subfolder_slac"])
# Read RGBD images.
[color_files, depth_files] = get_rgbd_file_lists(config["path_dataset"])
if len(color_files) != len(depth_files):
raise ValueError(
"The number of color images {} must equal to the number of depth images {}."
.format(len(color_files), len(depth_files)))
# Read optimized pose graph. [Generated by `register` stage].
posegraph = o3d.io.read_pose_graph(
join(slac_folder, config["template_optimized_posegraph_slac"]))
# If camera intrinsic is not provided,
# the default PrimeSense intrinsic is used.
if config["path_intrinsic"]:
intrinsic = o3d.io.read_pinhole_camera_intrinsic(
config["path_intrinsic"])
else:
intrinsic = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
focal_length = intrinsic.get_focal_length()
principal_point = intrinsic.get_principal_point()
intrinsic_t = o3d.core.Tensor([[focal_length[0], 0, principal_point[0]],
[0, focal_length[1], principal_point[1]],
[0, 0, 1]])
device = o3d.core.Device(
'CUDA:0' if o3d.core.cuda.is_available() else 'CPU:0')
voxel_grid = o3d.t.geometry.VoxelBlockGrid(
attr_names=('tsdf', 'weight', 'color'),
attr_dtypes=(o3c.float32, o3c.float32, o3c.float32),
attr_channels=((1), (1), (3)),
voxel_size=config['tsdf_cubic_size'] / 512,
block_resolution=16,
block_count=config['block_count'],
device=device)
# Load control grid.
ctr_grid_keys = o3d.core.Tensor.load(slac_folder + "ctr_grid_keys.npy")
ctr_grid_values = o3d.core.Tensor.load(slac_folder + "ctr_grid_values.npy")
ctr_grid = o3d.t.pipelines.slac.control_grid(3.0 / 8,
ctr_grid_keys.to(device),
ctr_grid_values.to(device),
device)
fragment_folder = join(path_dataset, config["folder_fragment"])
k = 0
depth_scale = float(config['depth_scale'])
depth_max = float(config['depth_max'])
for i in range(len(posegraph.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_local = node.pose
extrinsic_local_t = o3d.core.Tensor(np.linalg.inv(pose_local))
pose = np.dot(posegraph.nodes[i].pose, node.pose)
extrinsic_t = o3d.core.Tensor(np.linalg.inv(pose))
depth = o3d.t.io.read_image(depth_files[k]).to(device)
color = o3d.t.io.read_image(color_files[k]).to(device)
rgbd = o3d.t.geometry.RGBDImage(color, depth)
print('Deforming and integrating Frame {:3d}'.format(k))
rgbd_projected = ctr_grid.deform(rgbd, intrinsic_t,
extrinsic_local_t, depth_scale,
depth_max)
frustum_block_coords = voxel_grid.compute_unique_block_coordinates(
rgbd_projected.depth, intrinsic_t, extrinsic_t, depth_scale,
depth_max)
voxel_grid.integrate(frustum_block_coords, rgbd_projected.depth,
rgbd_projected.color, intrinsic_t, extrinsic_t,
depth_scale, depth_max)
k = k + 1
if (config["save_output_as"] == "pointcloud"):
pcd = voxel_grid.extract_point_cloud().to(o3d.core.Device("CPU:0"))
save_pcd_path = join(slac_folder, "output_slac_pointcloud.ply")
o3d.t.io.write_point_cloud(save_pcd_path, pcd)
else:
mesh = voxel_grid.extract_triangle_mesh().to(o3d.core.Device("CPU:0"))
mesh_legacy = mesh.to_legacy()
save_mesh_path = join(slac_folder, "output_slac_mesh.ply")
o3d.io.write_triangle_mesh(save_mesh_path, mesh_legacy)
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