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
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/Open3D.h"
#include "open3d/t/pipelines/slac/ControlGrid.h"
using namespace open3d;
using namespace open3d::core;
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > SLACIntegrate [dataset_folder] [slac_folder] [options]");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --color_subfolder [default: color, rgb, image]");
utility::LogInfo(" --depth_subfolder [default: depth]");
utility::LogInfo(" --voxel_size [=0.0058 (m)]");
utility::LogInfo(" --intrinsic_path [camera_intrinsic]");
utility::LogInfo(" --block_count [=40000]");
utility::LogInfo(" --depth_scale [=1000.0]");
utility::LogInfo(" --depth_max [=3.0]");
utility::LogInfo(" --sdf_trunc [=0.04]");
utility::LogInfo(" --device [CPU:0]");
utility::LogInfo(" --mesh");
utility::LogInfo(" --pointcloud");
utility::LogInfo(" --debug");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc < 3 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
std::string color_subfolder = utility::GetProgramOptionAsString(
argc, argv, "--color_subfolder", "color");
std::string depth_subfolder = utility::GetProgramOptionAsString(
argc, argv, "--depth_subfolder", "depth");
// Color and depth
std::string dataset_folder = std::string(argv[1]);
std::string color_folder = dataset_folder + "/" + color_subfolder;
std::string depth_folder = dataset_folder + "/" + depth_subfolder;
std::string fragment_folder = dataset_folder + "/fragments";
std::vector<std::string> color_filenames;
utility::filesystem::ListFilesInDirectory(color_folder, color_filenames);
std::sort(color_filenames.begin(), color_filenames.end());
std::vector<std::string> depth_filenames;
utility::filesystem::ListFilesInDirectory(depth_folder, depth_filenames);
std::sort(depth_filenames.begin(), depth_filenames.end());
if (color_filenames.size() != depth_filenames.size()) {
utility::LogError("Number of color and depth files mismatch: {} vs {}.",
color_filenames.size(), depth_filenames.size());
}
// Optimized fragment pose graph
std::string slac_folder = std::string(argv[2]);
std::string posegraph_path =
std::string(slac_folder + "/optimized_posegraph_slac.json");
auto posegraph = io::CreatePoseGraphFromFile(posegraph_path);
if (posegraph == nullptr) {
utility::LogError(
"Unable to open {}, please run SLAC before SLACIntegrate.",
posegraph_path);
}
// Intrinsics
std::string intrinsic_path = utility::GetProgramOptionAsString(
argc, argv, "--intrinsic_path", "");
camera::PinholeCameraIntrinsic intrinsic = camera::PinholeCameraIntrinsic(
camera::PinholeCameraIntrinsicParameters::PrimeSenseDefault);
if (intrinsic_path.empty()) {
utility::LogWarning("Using default Primesense intrinsics");
} else if (!io::ReadIJsonConvertible(intrinsic_path, intrinsic)) {
utility::LogError("Unable to convert json to intrinsics.");
}
auto focal_length = intrinsic.GetFocalLength();
auto principal_point = intrinsic.GetPrincipalPoint();
Tensor intrinsic_t = Tensor::Init<double>(
{{focal_length.first, 0, principal_point.first},
{0, focal_length.second, principal_point.second},
{0, 0, 1}});
// Device
std::string device_code = "CPU:0";
if (utility::ProgramOptionExists(argc, argv, "--device")) {
device_code = utility::GetProgramOptionAsString(argc, argv, "--device");
}
core::Device device(device_code);
utility::LogInfo("Using device: {}", device.ToString());
// Voxelgrid options
int block_count =
utility::GetProgramOptionAsInt(argc, argv, "--block_count", 40000);
float voxel_size = static_cast<float>(utility::GetProgramOptionAsDouble(
argc, argv, "--voxel_size", 3.f / 512.f));
float depth_scale = static_cast<float>(utility::GetProgramOptionAsDouble(
argc, argv, "--depth_scale", 1000.f));
float depth_max = static_cast<float>(
utility::GetProgramOptionAsDouble(argc, argv, "--depth_max", 3.f));
// float sdf_trunc = static_cast<float>(utility::GetProgramOptionAsDouble(
// argc, argv, "--sdf_trunc", 0.04f));
t::geometry::VoxelBlockGrid voxel_grid(
{"tsdf", "weight", "color"},
{core::Dtype::Float32, core::Dtype::Float32, core::Dtype::Float32},
{{1}, {1}, {3}}, voxel_size, 16, block_count, device);
// Load control grid
core::Tensor ctr_grid_keys =
core::Tensor::Load(slac_folder + "/ctr_grid_keys.npy");
core::Tensor ctr_grid_values =
core::Tensor::Load(slac_folder + "/ctr_grid_values.npy");
t::pipelines::slac::ControlGrid ctr_grid(3.0 / 8, ctr_grid_keys.To(device),
ctr_grid_values.To(device),
device);
int k = 0;
for (size_t i = 0; i < posegraph->nodes_.size(); ++i) {
utility::LogInfo("Fragment: {}", i);
auto fragment_pose_graph = *io::CreatePoseGraphFromFile(fmt::format(
"{}/fragment_optimized_{:03d}.json", fragment_folder, i));
for (auto node : fragment_pose_graph.nodes_) {
Eigen::Matrix4d pose_local = node.pose_;
Tensor extrinsic_local_t =
core::eigen_converter::EigenMatrixToTensor(
pose_local.inverse().eval());
Eigen::Matrix4d pose = posegraph->nodes_[i].pose_ * node.pose_;
Tensor extrinsic_t = core::eigen_converter::EigenMatrixToTensor(
pose.inverse().eval());
auto depth =
t::io::CreateImageFromFile(depth_filenames[k])->To(device);
auto color =
t::io::CreateImageFromFile(color_filenames[k])->To(device);
t::geometry::RGBDImage rgbd(color, depth);
utility::Timer timer;
timer.Start();
t::geometry::RGBDImage rgbd_projected =
ctr_grid.Deform(rgbd, intrinsic_t, extrinsic_local_t,
depth_scale, depth_max);
core::Tensor frustum_block_coords =
voxel_grid.GetUniqueBlockCoordinates(
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);
timer.Stop();
++k;
utility::LogInfo("{}: Deformation + Integration takes {}", k,
timer.GetDurationInMillisecond());
}
}
if (utility::ProgramOptionExists(argc, argv, "--mesh")) {
auto mesh = voxel_grid.ExtractTriangleMesh();
auto mesh_legacy =
std::make_shared<geometry::TriangleMesh>(mesh.ToLegacy());
open3d::io::WriteTriangleMesh("mesh_" + device.ToString() + ".ply",
*mesh_legacy);
}
if (utility::ProgramOptionExists(argc, argv, "--pointcloud")) {
auto pcd = voxel_grid.ExtractPointCloud();
auto pcd_legacy =
std::make_shared<open3d::geometry::PointCloud>(pcd.ToLegacy());
open3d::io::WritePointCloud("pcd_" + device.ToString() + ".ply",
*pcd_legacy);
}
}
|
