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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <json/json.h>
#include <chrono>
#include <fstream>
#include <iostream>
#include <memory>
#include <string>
#include <thread>
#include "open3d/Open3D.h"
using namespace open3d;
namespace sc = std::chrono;
void WriteJsonToFile(const std::string &filename, const Json::Value &value) {
std::ofstream out(filename);
if (!out.is_open()) {
utility::LogError("Cannot write to {}", filename);
}
Json::StreamWriterBuilder builder;
builder["commentStyle"] = "None";
builder["indentation"] = "\t";
std::unique_ptr<Json::StreamWriter> writer(builder.newStreamWriter());
writer->write(value, &out);
}
Json::Value GenerateDatasetConfig(const std::string &output_path,
const std::string &bagfile) {
Json::Value value;
utility::LogInfo("Writing to config.json");
utility::LogInfo(
"Please change path_dataset and path_intrinsic when you move the "
"dataset.");
if (output_path[0] == '/') { // global dir
value["path_dataset"] = output_path;
value["path_intrinsic"] = output_path + "/intrinsic.json";
} else { // relative dir
auto pwd = utility::filesystem::GetWorkingDirectory();
value["path_dataset"] = pwd + "/" + output_path;
value["path_intrinsic"] = pwd + "/" + output_path + "/intrinsic.json";
}
value["name"] = bagfile;
value["depth_max"] = 3.0;
value["voxel_size"] = 0.05;
value["depth_diff_max"] = 0.07;
value["preference_loop_closure_odometry"] = 0.1;
value["preference_loop_closure_registration"] = 5.0;
value["tsdf_cubic_size"] = 3.0;
value["icp_method"] = "color";
value["global_registration"] = "ransac";
value["python_multi_threading"] = true;
return value;
}
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > RealSenseBagReader [-V] --input input.bag [--output path]");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc == 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"}) ||
!utility::ProgramOptionExists(argc, argv, "--input")) {
PrintHelp();
return 1;
}
if (utility::ProgramOptionExists(argc, argv, "-V")) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
} else {
utility::SetVerbosityLevel(utility::VerbosityLevel::Info);
}
std::string bag_filename =
utility::GetProgramOptionAsString(argc, argv, "--input");
bool write_image = false;
std::string output_path;
if (!utility::ProgramOptionExists(argc, argv, "--output")) {
utility::LogInfo("No output image path, only play bag.");
} else {
output_path = utility::GetProgramOptionAsString(argc, argv, "--output");
if (output_path.empty()) {
utility::LogWarning("Output path {} is empty, only play bag.",
output_path);
}
if (utility::filesystem::DirectoryExists(output_path)) {
utility::LogWarning(
"Output path {} already existing, only play bag.",
output_path);
} else if (!utility::filesystem::MakeDirectory(output_path)) {
utility::LogWarning("Unable to create path {}, only play bag.",
output_path);
} else {
utility::LogInfo("Decompress images to {}", output_path);
utility::filesystem::MakeDirectoryHierarchy(output_path + "/color");
utility::filesystem::MakeDirectoryHierarchy(output_path + "/depth");
write_image = true;
}
}
t::io::RSBagReader bag_reader;
bag_reader.Open(bag_filename);
if (!bag_reader.IsOpened()) {
utility::LogError("Unable to open {}", bag_filename);
return 1;
}
bool flag_exit = false;
bool flag_play = true;
visualization::VisualizerWithKeyCallback vis;
visualization::SetGlobalColorMap(
visualization::ColorMap::ColorMapOption::Gray);
vis.RegisterKeyCallback(GLFW_KEY_ESCAPE,
[&](visualization::Visualizer *vis) {
flag_exit = true;
return true;
});
vis.RegisterKeyCallback(
GLFW_KEY_SPACE, [&](visualization::Visualizer *vis) {
if (flag_play) {
utility::LogInfo(
"Playback paused, press [SPACE] to continue");
} else {
utility::LogInfo(
"Playback resumed, press [SPACE] to pause");
}
flag_play = !flag_play;
return true;
});
vis.RegisterKeyCallback(GLFW_KEY_LEFT, [&](visualization::Visualizer *vis) {
uint64_t now = bag_reader.GetTimestamp();
if (bag_reader.SeekTimestamp(now < 1'000'000 ? 0 : now - 1'000'000))
utility::LogInfo("Seek back 1s");
else
utility::LogWarning("Seek back 1s failed");
return true;
});
vis.RegisterKeyCallback(
GLFW_KEY_RIGHT, [&](visualization::Visualizer *vis) {
uint64_t now = bag_reader.GetTimestamp();
if (bag_reader.SeekTimestamp(now + 1'000'000))
utility::LogInfo("Seek forward 1s");
else
utility::LogWarning("Seek forward 1s failed");
return true;
});
vis.CreateVisualizerWindow("Open3D Intel RealSense bag player", 1920, 540);
utility::LogInfo(
"Starting to play. Press [SPACE] to pause. Press [ESC] to "
"exit.");
bool is_geometry_added = false;
int idx = 0;
const auto bag_metadata = bag_reader.GetMetadata();
utility::LogInfo("{}", bag_metadata.ToString());
if (write_image) {
io::WriteIJsonConvertibleToJSON(
fmt::format("{}/intrinsic.json", output_path), bag_metadata);
WriteJsonToFile(fmt::format("{}/config.json", output_path),
GenerateDatasetConfig(output_path, bag_filename));
}
const auto frame_interval = sc::duration<double>(1. / bag_metadata.fps_);
using legacyRGBDImage = open3d::geometry::RGBDImage;
auto last_frame_time = std::chrono::steady_clock::now();
legacyRGBDImage im_rgbd = bag_reader.NextFrame().ToLegacy();
while (!bag_reader.IsEOF() && !flag_exit) {
if (flag_play) {
// create shared_ptr with no-op deleter for stack RGBDImage
auto ptr_im_rgbd = std::shared_ptr<legacyRGBDImage>(
&im_rgbd, [](legacyRGBDImage *) {});
// Improve depth visualization by scaling
/* im_rgbd.depth_.LinearTransform(0.25); */
if (ptr_im_rgbd->IsEmpty()) continue;
if (!is_geometry_added) {
vis.AddGeometry(ptr_im_rgbd);
is_geometry_added = true;
}
++idx;
if (write_image)
#pragma omp parallel sections
{
#pragma omp section
{
auto color_file = fmt::format("{0}/color/{1:05d}.jpg",
output_path, idx);
utility::LogInfo("Writing to {}", color_file);
io::WriteImage(color_file, im_rgbd.color_);
}
#pragma omp section
{
auto depth_file = fmt::format("{0}/depth/{1:05d}.png",
output_path, idx);
utility::LogInfo("Writing to {}", depth_file);
io::WriteImage(depth_file, im_rgbd.depth_);
}
}
vis.UpdateGeometry();
vis.UpdateRender();
std::this_thread::sleep_until(last_frame_time + frame_interval);
last_frame_time = std::chrono::steady_clock::now();
im_rgbd = bag_reader.NextFrame().ToLegacy();
}
vis.PollEvents();
}
bag_reader.Close();
}
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