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
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
|
# ----------------------------------------------------------------------------
# - 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/ray_casting.py
# P.S. This example is used in documentation, so, please ensure the changes are
# synchronized.
import os
import numpy as np
import open3d as o3d
import open3d.core as o3c
import time
import matplotlib.pyplot as plt
from config import ConfigParser
from common import get_default_dataset, load_rgbd_file_names, load_depth_file_names, save_poses, load_intrinsic, load_extrinsics, extract_rgbd_frames
from tqdm import tqdm
def integrate(depth_file_names, color_file_names, intrinsic, extrinsics,
config):
if os.path.exists(config.path_npz):
print('Voxel block grid npz file {} found, trying to load...'.format(
config.path_npz))
vbg = o3d.t.geometry.VoxelBlockGrid.load(config.path_npz)
print('Loading finished.')
else:
print('Voxel block grid npz file {} not found, trying to integrate...'.
format(config.path_npz))
n_files = len(depth_file_names)
device = o3d.core.Device(config.device)
voxel_size = 3.0 / 512
trunc = voxel_size * 4
res = 8
if config.integrate_color:
vbg = o3d.t.geometry.VoxelBlockGrid(
('tsdf', 'weight', 'color'),
(o3c.float32, o3c.float32, o3c.float32), ((1), (1), (3)),
3.0 / 512, 8, 100000, device)
else:
vbg = o3d.t.geometry.VoxelBlockGrid(
('tsdf', 'weight'), (o3c.float32, o3c.float32), ((1), (1)),
3.0 / 512, 8, 100000, device)
start = time.time()
for i in tqdm(range(n_files)):
depth = o3d.t.io.read_image(depth_file_names[i]).to(device)
extrinsic = extrinsics[i]
start = time.time()
# Get active frustum block coordinates from input
frustum_block_coords = vbg.compute_unique_block_coordinates(
depth, intrinsic, extrinsic, config.depth_scale,
config.depth_max)
# Activate them in the underlying hash map (may have been inserted)
vbg.hashmap().activate(frustum_block_coords)
# Find buf indices in the underlying engine
buf_indices, masks = vbg.hashmap().find(frustum_block_coords)
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
voxel_coords, voxel_indices = vbg.voxel_coordinates_and_flattened_indices(
buf_indices)
o3d.core.cuda.synchronize()
end = time.time()
# Now project them to the depth and find association
# (3, N) -> (2, N)
start = time.time()
extrinsic_dev = extrinsic.to(device, o3c.float32)
xyz = extrinsic_dev[:3, :3] @ voxel_coords.T() + extrinsic_dev[:3,
3:]
intrinsic_dev = intrinsic.to(device, o3c.float32)
uvd = intrinsic_dev @ xyz
d = uvd[2]
u = (uvd[0] / d).round().to(o3c.int64)
v = (uvd[1] / d).round().to(o3c.int64)
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
mask_proj = (d > 0) & (u >= 0) & (v >= 0) & (u < depth.columns) & (
v < depth.rows)
v_proj = v[mask_proj]
u_proj = u[mask_proj]
d_proj = d[mask_proj]
depth_readings = depth.as_tensor()[v_proj, u_proj, 0].to(
o3c.float32) / config.depth_scale
sdf = depth_readings - d_proj
mask_inlier = (depth_readings > 0) \
& (depth_readings < config.depth_max) \
& (sdf >= -trunc)
sdf[sdf >= trunc] = trunc
sdf = sdf / trunc
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
weight = vbg.attribute('weight').reshape((-1, 1))
tsdf = vbg.attribute('tsdf').reshape((-1, 1))
valid_voxel_indices = voxel_indices[mask_proj][mask_inlier]
w = weight[valid_voxel_indices]
wp = w + 1
tsdf[valid_voxel_indices] \
= (tsdf[valid_voxel_indices] * w +
sdf[mask_inlier].reshape(w.shape)) / (wp)
if config.integrate_color:
color = o3d.t.io.read_image(color_file_names[i]).to(device)
color_readings = color.as_tensor()[v_proj,
u_proj].to(o3c.float32)
color = vbg.attribute('color').reshape((-1, 3))
color[valid_voxel_indices] \
= (color[valid_voxel_indices] * w +
color_readings[mask_inlier]) / (wp)
weight[valid_voxel_indices] = wp
o3d.core.cuda.synchronize()
end = time.time()
print('Saving to {}...'.format(config.path_npz))
vbg.save(config.path_npz)
print('Saving finished')
return vbg
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, jack_jack]',
default='lounge')
parser.add('--integrate_color', action='store_true')
parser.add('--path_trajectory',
help='path to the trajectory .log or .json file.')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='vbg.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)
if config.integrate_color:
depth_file_names, color_file_names = load_rgbd_file_names(config)
else:
depth_file_names = load_depth_file_names(config)
color_file_names = None
intrinsic = load_intrinsic(config)
extrinsics = load_extrinsics(config.path_trajectory, config)
vbg = integrate(depth_file_names, color_file_names, intrinsic, extrinsics,
config)
mesh = vbg.extract_triangle_mesh()
o3d.visualization.draw([mesh.to_legacy()])
pcd = vbg.extract_point_cloud()
o3d.visualization.draw([pcd])
|
