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
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#pragma once
#include <json/json.h>
#include "FileSystemUtil.h"
#include "open3d/Open3D.h"
namespace open3d {
namespace apps {
namespace offline_reconstruction {
void SetDefaultValue(Json::Value& config,
const std::string& key,
int default_value) {
if (!config.isMember(key)) {
config[key] = default_value;
}
}
void SetDefaultValue(Json::Value& config,
const std::string& key,
float default_value) {
if (!config.isMember(key)) {
config[key] = default_value;
}
}
void SetDefaultValue(Json::Value& config,
const std::string& key,
const std::string& default_value) {
if (!config.isMember(key)) {
config[key] = default_value;
}
}
void InitConfig(Json::Value& config) {
// Set default parameters if not specified.
SetDefaultValue(config, "n_frames_per_fragment", 100);
SetDefaultValue(config, "n_keyframes_per_n_frame", 5);
SetDefaultValue(config, "depth_min", 0.3f);
SetDefaultValue(config, "depth_max", 3.0f);
SetDefaultValue(config, "voxel_size", 0.05f);
SetDefaultValue(config, "depth_diff_max", 0.07f);
SetDefaultValue(config, "depth_scale", 1000);
SetDefaultValue(config, "preference_loop_closure_odometry", 0.1f);
SetDefaultValue(config, "preference_loop_closure_registration", 5.0f);
SetDefaultValue(config, "tsdf_cubic_size", 3.0f);
SetDefaultValue(config, "icp_method", "color");
SetDefaultValue(config, "global_registration", "ransac");
SetDefaultValue(config, "multi_threading", true);
// `slac` and `slac_integrate` related parameters. `voxel_size` and
// `depth_min` parameters from previous section, are also used in `slac`
// and `slac_integrate`.
SetDefaultValue(config, "max_iterations", 5);
SetDefaultValue(config, "sdf_trunc", 0.04f);
SetDefaultValue(config, "block_count", 40000);
SetDefaultValue(config, "distance_threshold", 0.07f);
SetDefaultValue(config, "fitness_threshold", 0.3f);
SetDefaultValue(config, "regularizer_weight", 1);
SetDefaultValue(config, "method", "slac");
SetDefaultValue(config, "device", "CPU:0");
SetDefaultValue(config, "save_output_as", "pointcloud");
SetDefaultValue(config, "folder_slac", "slac/");
SetDefaultValue(config, "template_optimized_posegraph_slac",
"optimized_posegraph_slac.json");
// Path related parameters.
SetDefaultValue(config, "folder_fragment", "fragments/");
SetDefaultValue(
config, "subfolder_slac",
"slac/" + FloatToString(config["voxel_size"].asFloat(), 3) + "/");
SetDefaultValue(config, "template_fragment_posegraph", "fragments/");
SetDefaultValue(config, "template_fragment_posegraph_optimized",
"fragments/");
SetDefaultValue(config, "template_fragment_pointcloud", "fragments/");
SetDefaultValue(config, "folder_scene", "scene/");
SetDefaultValue(config, "template_global_posegraph",
"scene/global_registration.json");
SetDefaultValue(config, "template_global_posegraph_optimized",
"scene/global_registration_optimized.json");
SetDefaultValue(config, "template_refined_posegraph",
"scene/refined_registration.json");
SetDefaultValue(config, "template_refined_posegraph_optimized",
"scene/refined_registration_optimized.json");
SetDefaultValue(config, "template_global_mesh", "scene/integrated.ply");
SetDefaultValue(config, "template_global_traj", "scene/trajectory.log");
if (utility::filesystem::GetFileExtensionInLowerCase(
config["path_dataset"].asString()) == "bag") {
std::tie(config["path_dataset"], config["path_intrinsic"],
config["depth_scale"]) =
ExtractRGBDFrames(config["path_dataset"].asString());
}
}
void LoungeDataLoader(Json::Value& config) {
utility::LogInfo("Loading Stanford Lounge RGB-D Dataset");
data::LoungeRGBDImages rgbd;
// Set dataset specific parameters.
config["path_dataset"] = rgbd.GetExtractDir();
config["path_intrinsic"] = "";
config["depth_max"] = 3.0f;
config["voxel_size"] = 0.05f;
config["depth_diff_max"] = 0.07f;
config["preference_loop_closure_odometry"] = 0.1f;
config["preference_loop_closure_registration"] = 5.0f;
config["tsdf_cubic_size"] = 3.0f;
config["icp_method"] = "color";
config["global_registration"] = "ransac";
config["multi_threading"] = true;
}
void BedroomDataLoader(Json::Value& config) {
utility::LogInfo("Loading Redwood Bedroom RGB-D Dataset");
data::BedroomRGBDImages rgbd;
// Set dataset specific parameters.
config["path_dataset"] = rgbd.GetExtractDir();
config["path_intrinsic"] = "";
config["depth_max"] = 3.0f;
config["voxel_size"] = 0.05f;
config["depth_diff_max"] = 0.07f;
config["preference_loop_closure_odometry"] = 0.1f;
config["preference_loop_closure_registration"] = 5.0f;
config["tsdf_cubic_size"] = 3.0f;
config["icp_method"] = "color";
config["global_registration"] = "ransac";
config["multi_threading"] = true;
}
void JackJackroomDataLoader(Json::Value& config) {
utility::LogInfo("Loading RealSense L515 Jack-Jack RGB-D Dataset");
data::JackJackL515Bag rgbd;
// Set dataset specific parameters.
config["path_dataset"] = rgbd.GetExtractDir();
config["path_intrinsic"] = "";
config["depth_max"] = 0.85f;
config["voxel_size"] = 0.025f;
config["depth_diff_max"] = 0.03f;
config["preference_loop_closure_odometry"] = 0.1f;
config["preference_loop_closure_registration"] = 5.0f;
config["tsdf_cubic_size"] = 0.75f;
config["icp_method"] = "color";
config["global_registration"] = "ransac";
config["multi_threading"] = true;
}
Json::Value DefaultDatasetLoader(const std::string& name) {
utility::LogInfo("Config file was not passed. Using deafult dataset: {}.",
name);
Json::Value config;
if (name == "lounge") {
LoungeDataLoader(config);
} else if (name == "bedroom") {
BedroomDataLoader(config);
} else if (name == "jack_jack") {
JackJackroomDataLoader(config);
} else {
utility::LogError("Dataset {} is not supported.", name);
}
InitConfig(config);
utility::LogInfo("Loaded data from {}", config["path_dataset"].asString());
return config;
}
} // namespace offline_reconstruction
} // namespace apps
} // namespace open3d
|
