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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/t_reconstruction_system/dense_slam_gui.py
# P.S. This example is used in documentation, so, please ensure the changes are
# synchronized.
import open3d as o3d
import open3d.core as o3c
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
from config import ConfigParser
import os, sys
import numpy as np
import threading
import time
from common import load_rgbd_file_names, save_poses, load_intrinsic, extract_trianglemesh, get_default_dataset, extract_rgbd_frames
def set_enabled(widget, enable):
widget.enabled = enable
for child in widget.get_children():
child.enabled = enable
class ReconstructionWindow:
def __init__(self, config, font_id):
self.config = config
self.window = gui.Application.instance.create_window(
'Open3D - Reconstruction', 1280, 800)
w = self.window
em = w.theme.font_size
spacing = int(np.round(0.25 * em))
vspacing = int(np.round(0.5 * em))
margins = gui.Margins(vspacing)
# First panel
self.panel = gui.Vert(spacing, margins)
## Items in fixed props
self.fixed_prop_grid = gui.VGrid(2, spacing, gui.Margins(em, 0, em, 0))
### Depth scale slider
scale_label = gui.Label('Depth scale')
self.scale_slider = gui.Slider(gui.Slider.INT)
self.scale_slider.set_limits(1000, 5000)
self.scale_slider.int_value = int(config.depth_scale)
self.fixed_prop_grid.add_child(scale_label)
self.fixed_prop_grid.add_child(self.scale_slider)
voxel_size_label = gui.Label('Voxel size')
self.voxel_size_slider = gui.Slider(gui.Slider.DOUBLE)
self.voxel_size_slider.set_limits(0.003, 0.01)
self.voxel_size_slider.double_value = config.voxel_size
self.fixed_prop_grid.add_child(voxel_size_label)
self.fixed_prop_grid.add_child(self.voxel_size_slider)
trunc_multiplier_label = gui.Label('Trunc multiplier')
self.trunc_multiplier_slider = gui.Slider(gui.Slider.DOUBLE)
self.trunc_multiplier_slider.set_limits(1.0, 20.0)
self.trunc_multiplier_slider.double_value = config.trunc_voxel_multiplier
self.fixed_prop_grid.add_child(trunc_multiplier_label)
self.fixed_prop_grid.add_child(self.trunc_multiplier_slider)
est_block_count_label = gui.Label('Est. blocks')
self.est_block_count_slider = gui.Slider(gui.Slider.INT)
self.est_block_count_slider.set_limits(40000, 100000)
self.est_block_count_slider.int_value = config.block_count
self.fixed_prop_grid.add_child(est_block_count_label)
self.fixed_prop_grid.add_child(self.est_block_count_slider)
est_point_count_label = gui.Label('Est. points')
self.est_point_count_slider = gui.Slider(gui.Slider.INT)
self.est_point_count_slider.set_limits(500000, 8000000)
self.est_point_count_slider.int_value = config.est_point_count
self.fixed_prop_grid.add_child(est_point_count_label)
self.fixed_prop_grid.add_child(self.est_point_count_slider)
## Items in adjustable props
self.adjustable_prop_grid = gui.VGrid(2, spacing,
gui.Margins(em, 0, em, 0))
### Reconstruction interval
interval_label = gui.Label('Recon. interval')
self.interval_slider = gui.Slider(gui.Slider.INT)
self.interval_slider.set_limits(1, 500)
self.interval_slider.int_value = 50
self.adjustable_prop_grid.add_child(interval_label)
self.adjustable_prop_grid.add_child(self.interval_slider)
### Depth max slider
max_label = gui.Label('Depth max')
self.max_slider = gui.Slider(gui.Slider.DOUBLE)
self.max_slider.set_limits(3.0, 6.0)
self.max_slider.double_value = config.depth_max
self.adjustable_prop_grid.add_child(max_label)
self.adjustable_prop_grid.add_child(self.max_slider)
### Depth diff slider
diff_label = gui.Label('Depth diff')
self.diff_slider = gui.Slider(gui.Slider.DOUBLE)
self.diff_slider.set_limits(0.07, 0.5)
self.diff_slider.double_value = config.odometry_distance_thr
self.adjustable_prop_grid.add_child(diff_label)
self.adjustable_prop_grid.add_child(self.diff_slider)
### Update surface?
update_label = gui.Label('Update surface?')
self.update_box = gui.Checkbox('')
self.update_box.checked = True
self.adjustable_prop_grid.add_child(update_label)
self.adjustable_prop_grid.add_child(self.update_box)
### Ray cast color?
raycast_label = gui.Label('Raycast color?')
self.raycast_box = gui.Checkbox('')
self.raycast_box.checked = True
self.adjustable_prop_grid.add_child(raycast_label)
self.adjustable_prop_grid.add_child(self.raycast_box)
set_enabled(self.fixed_prop_grid, True)
## Application control
b = gui.ToggleSwitch('Resume/Pause')
b.set_on_clicked(self._on_switch)
## Tabs
tab_margins = gui.Margins(0, int(np.round(0.5 * em)), 0, 0)
tabs = gui.TabControl()
### Input image tab
tab1 = gui.Vert(0, tab_margins)
self.input_color_image = gui.ImageWidget()
self.input_depth_image = gui.ImageWidget()
tab1.add_child(self.input_color_image)
tab1.add_fixed(vspacing)
tab1.add_child(self.input_depth_image)
tabs.add_tab('Input images', tab1)
### Rendered image tab
tab2 = gui.Vert(0, tab_margins)
self.raycast_color_image = gui.ImageWidget()
self.raycast_depth_image = gui.ImageWidget()
tab2.add_child(self.raycast_color_image)
tab2.add_fixed(vspacing)
tab2.add_child(self.raycast_depth_image)
tabs.add_tab('Raycast images', tab2)
### Info tab
tab3 = gui.Vert(0, tab_margins)
self.output_info = gui.Label('Output info')
self.output_info.font_id = font_id
tab3.add_child(self.output_info)
tabs.add_tab('Info', tab3)
self.panel.add_child(gui.Label('Starting settings'))
self.panel.add_child(self.fixed_prop_grid)
self.panel.add_fixed(vspacing)
self.panel.add_child(gui.Label('Reconstruction settings'))
self.panel.add_child(self.adjustable_prop_grid)
self.panel.add_child(b)
self.panel.add_stretch()
self.panel.add_child(tabs)
# Scene widget
self.widget3d = gui.SceneWidget()
# FPS panel
self.fps_panel = gui.Vert(spacing, margins)
self.output_fps = gui.Label('FPS: 0.0')
self.fps_panel.add_child(self.output_fps)
# Now add all the complex panels
w.add_child(self.panel)
w.add_child(self.widget3d)
w.add_child(self.fps_panel)
self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
self.widget3d.scene.set_background([1, 1, 1, 1])
w.set_on_layout(self._on_layout)
w.set_on_close(self._on_close)
self.is_done = False
self.is_started = False
self.is_running = False
self.is_surface_updated = False
self.idx = 0
self.poses = []
# Start running
threading.Thread(name='UpdateMain', target=self.update_main).start()
def _on_layout(self, ctx):
em = ctx.theme.font_size
panel_width = 20 * em
rect = self.window.content_rect
self.panel.frame = gui.Rect(rect.x, rect.y, panel_width, rect.height)
x = self.panel.frame.get_right()
self.widget3d.frame = gui.Rect(x, rect.y,
rect.get_right() - x, rect.height)
fps_panel_width = 7 * em
fps_panel_height = 2 * em
self.fps_panel.frame = gui.Rect(rect.get_right() - fps_panel_width,
rect.y, fps_panel_width,
fps_panel_height)
# Toggle callback: application's main controller
def _on_switch(self, is_on):
if not self.is_started:
gui.Application.instance.post_to_main_thread(
self.window, self._on_start)
self.is_running = not self.is_running
# On start: point cloud buffer and model initialization.
def _on_start(self):
max_points = self.est_point_count_slider.int_value
pcd_placeholder = o3d.t.geometry.PointCloud(
o3c.Tensor(np.zeros((max_points, 3), dtype=np.float32)))
pcd_placeholder.point.colors = o3c.Tensor(
np.zeros((max_points, 3), dtype=np.float32))
mat = rendering.MaterialRecord()
mat.shader = 'defaultUnlit'
mat.sRGB_color = True
self.widget3d.scene.scene.add_geometry('points', pcd_placeholder, mat)
self.model = o3d.t.pipelines.slam.Model(
self.voxel_size_slider.double_value, 16,
self.est_block_count_slider.int_value, o3c.Tensor(np.eye(4)),
o3c.Device(self.config.device))
self.is_started = True
set_enabled(self.fixed_prop_grid, False)
set_enabled(self.adjustable_prop_grid, True)
def _on_close(self):
self.is_done = True
if self.is_started:
print('Saving model to {}...'.format(config.path_npz))
self.model.voxel_grid.save(config.path_npz)
print('Finished.')
mesh_fname = '.'.join(config.path_npz.split('.')[:-1]) + '.ply'
print('Extracting and saving mesh to {}...'.format(mesh_fname))
mesh = extract_trianglemesh(self.model.voxel_grid, config,
mesh_fname)
print('Finished.')
log_fname = '.'.join(config.path_npz.split('.')[:-1]) + '.log'
print('Saving trajectory to {}...'.format(log_fname))
save_poses(log_fname, self.poses)
print('Finished.')
return True
def init_render(self, depth_ref, color_ref):
self.input_depth_image.update_image(
depth_ref.colorize_depth(float(self.scale_slider.int_value),
config.depth_min,
self.max_slider.double_value).to_legacy())
self.input_color_image.update_image(color_ref.to_legacy())
self.raycast_depth_image.update_image(
depth_ref.colorize_depth(float(self.scale_slider.int_value),
config.depth_min,
self.max_slider.double_value).to_legacy())
self.raycast_color_image.update_image(color_ref.to_legacy())
self.window.set_needs_layout()
bbox = o3d.geometry.AxisAlignedBoundingBox([-5, -5, -5], [5, 5, 5])
self.widget3d.setup_camera(60, bbox, [0, 0, 0])
self.widget3d.look_at([0, 0, 0], [0, -1, -3], [0, -1, 0])
def update_render(self, input_depth, input_color, raycast_depth,
raycast_color, pcd, frustum):
self.input_depth_image.update_image(
input_depth.colorize_depth(
float(self.scale_slider.int_value), config.depth_min,
self.max_slider.double_value).to_legacy())
self.input_color_image.update_image(input_color.to_legacy())
self.raycast_depth_image.update_image(
raycast_depth.colorize_depth(
float(self.scale_slider.int_value), config.depth_min,
self.max_slider.double_value).to_legacy())
self.raycast_color_image.update_image(
(raycast_color).to(o3c.uint8, False, 255.0).to_legacy())
if self.is_scene_updated:
if pcd is not None and pcd.point.positions.shape[0] > 0:
self.widget3d.scene.scene.update_geometry(
'points', pcd, rendering.Scene.UPDATE_POINTS_FLAG |
rendering.Scene.UPDATE_COLORS_FLAG)
self.widget3d.scene.remove_geometry("frustum")
mat = rendering.MaterialRecord()
mat.shader = "unlitLine"
mat.line_width = 5.0
self.widget3d.scene.add_geometry("frustum", frustum, mat)
# Major loop
def update_main(self):
depth_file_names, color_file_names = load_rgbd_file_names(self.config)
intrinsic = load_intrinsic(self.config)
n_files = len(color_file_names)
device = o3d.core.Device(config.device)
T_frame_to_model = o3c.Tensor(np.identity(4))
depth_ref = o3d.t.io.read_image(depth_file_names[0])
color_ref = o3d.t.io.read_image(color_file_names[0])
input_frame = o3d.t.pipelines.slam.Frame(depth_ref.rows,
depth_ref.columns, intrinsic,
device)
raycast_frame = o3d.t.pipelines.slam.Frame(depth_ref.rows,
depth_ref.columns, intrinsic,
device)
input_frame.set_data_from_image('depth', depth_ref)
input_frame.set_data_from_image('color', color_ref)
raycast_frame.set_data_from_image('depth', depth_ref)
raycast_frame.set_data_from_image('color', color_ref)
gui.Application.instance.post_to_main_thread(
self.window, lambda: self.init_render(depth_ref, color_ref))
fps_interval_len = 30
self.idx = 0
pcd = None
start = time.time()
while not self.is_done:
if not self.is_started or not self.is_running:
time.sleep(0.05)
continue
depth = o3d.t.io.read_image(depth_file_names[self.idx]).to(device)
color = o3d.t.io.read_image(color_file_names[self.idx]).to(device)
input_frame.set_data_from_image('depth', depth)
input_frame.set_data_from_image('color', color)
if self.idx > 0:
result = self.model.track_frame_to_model(
input_frame,
raycast_frame,
float(self.scale_slider.int_value),
self.max_slider.double_value,
)
T_frame_to_model = T_frame_to_model @ result.transformation
self.poses.append(T_frame_to_model.cpu().numpy())
self.model.update_frame_pose(self.idx, T_frame_to_model)
self.model.integrate(input_frame,
float(self.scale_slider.int_value),
self.max_slider.double_value,
self.trunc_multiplier_slider.double_value)
self.model.synthesize_model_frame(
raycast_frame, float(self.scale_slider.int_value),
config.depth_min, self.max_slider.double_value,
self.trunc_multiplier_slider.double_value,
self.raycast_box.checked)
if (self.idx % self.interval_slider.int_value == 0 and
self.update_box.checked) \
or (self.idx == 3) \
or (self.idx == n_files - 1):
pcd = self.model.voxel_grid.extract_point_cloud(
3.0, self.est_point_count_slider.int_value).to(
o3d.core.Device('CPU:0'))
self.is_scene_updated = True
else:
self.is_scene_updated = False
frustum = o3d.geometry.LineSet.create_camera_visualization(
color.columns, color.rows, intrinsic.numpy(),
np.linalg.inv(T_frame_to_model.cpu().numpy()), 0.2)
frustum.paint_uniform_color([0.961, 0.475, 0.000])
# Output FPS
if (self.idx % fps_interval_len == 0):
end = time.time()
elapsed = end - start
start = time.time()
self.output_fps.text = 'FPS: {:.3f}'.format(fps_interval_len /
elapsed)
# Output info
info = 'Frame {}/{}\n\n'.format(self.idx, n_files)
info += 'Transformation:\n{}\n'.format(
np.array2string(T_frame_to_model.numpy(),
precision=3,
max_line_width=40,
suppress_small=True))
info += 'Active voxel blocks: {}/{}\n'.format(
self.model.voxel_grid.hashmap().size(),
self.model.voxel_grid.hashmap().capacity())
info += 'Surface points: {}/{}\n'.format(
0 if pcd is None else pcd.point.positions.shape[0],
self.est_point_count_slider.int_value)
self.output_info.text = info
gui.Application.instance.post_to_main_thread(
self.window, lambda: self.update_render(
input_frame.get_data_as_image('depth'),
input_frame.get_data_as_image('color'),
raycast_frame.get_data_as_image('depth'),
raycast_frame.get_data_as_image('color'), pcd, frustum))
self.idx += 1
self.is_done = self.is_done | (self.idx >= n_files)
time.sleep(0.5)
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
parser.add('--default_dataset',
help='Default dataset is used when config file is not provided. '
'Default dataset may be selected from the following options: '
'[lounge, bedroom, jack_jack]',
default='lounge')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='output.npz')
config = parser.get_config()
if config.path_dataset == '':
config = get_default_dataset(config)
# Extract RGB-D frames and intrinsic from bag file.
if config.path_dataset.endswith(".bag"):
assert os.path.isfile(
config.path_dataset), (f"File {config.path_dataset} not found.")
print("Extracting frames from RGBD video file")
config.path_dataset, config.path_intrinsic, config.depth_scale = extract_rgbd_frames(
config.path_dataset)
app = gui.Application.instance
app.initialize()
mono = app.add_font(gui.FontDescription(gui.FontDescription.MONOSPACE))
w = ReconstructionWindow(config, mono)
app.run()
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