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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import numpy as np
import time
import os
import sys
import open3d as o3d
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import read_trajectory
def run_benchmark():
redwood_rgbd = o3d.data.SampleRedwoodRGBDImages()
camera_poses = read_trajectory(redwood_rgbd.odometry_log_path)
camera_intrinsics = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
volume = o3d.pipelines.integration.UniformTSDFVolume(
length=4.0,
resolution=512,
sdf_trunc=0.04,
color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8,
)
s = time.time()
for i in range(len(camera_poses)):
color = o3d.io.read_image(redwood_rgbd.color_paths[i])
depth = o3d.io.read_image(redwood_rgbd.depth_paths[i])
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
color, depth, depth_trunc=4.0, convert_rgb_to_intensity=False)
volume.integrate(
rgbd,
camera_intrinsics,
np.linalg.inv(camera_poses[i].pose),
)
time_integrate = time.time() - s
s = time.time()
mesh = volume.extract_triangle_mesh()
time_extract_mesh = time.time() - s
s = time.time()
pcd = volume.extract_point_cloud()
time_extract_pcd = time.time() - s
return time_integrate, time_extract_mesh, time_extract_pcd
if __name__ == "__main__":
times = []
for i in range(10):
print("Running benchmark {}".format(i))
time_integrate, time_extract_mesh, time_extract_pcd = run_benchmark()
times.append([time_integrate, time_extract_mesh, time_extract_pcd])
avg_times = np.mean(np.array(times), axis=0)
print("Integrate 512x512x512:", avg_times[0])
print("Extract mesh:", avg_times[1])
print("Extract pcd: ", avg_times[2])
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