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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
# examples/python/reconstruction_system/debug/visualize_alignment.py
import numpy as np
import json
import argparse
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 *
sys.path.append(".")
from initialize_config import *
def list_posegraph_files(folder_posegraph):
pose_graph_paths = get_file_list(folder_posegraph, ".json")
for pose_graph_path in pose_graph_paths:
pose_graph = o3d.io.read_pose_graph(pose_graph_path)
n_nodes = len(pose_graph.nodes)
n_edges = len(pose_graph.edges)
print(
"Fragment o3d.pipelines.registration.PoseGraph %s has %d nodes and %d edges"
% (pose_graph_path, n_nodes, n_edges))
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="visualize pose graph")
parser.add_argument("config", help="path to the config file")
parser.add_argument("--source_id", type=int, help="ID of source fragment")
parser.add_argument("--target_id", type=int, help="ID of target fragment")
parser.add_argument("--adjacent",
help="visualize adjacent pairs",
action="store_true")
parser.add_argument("--all",
help="visualize all pairs",
action="store_true")
parser.add_argument("--list_posegraphs",
help="list number of node and edges of all pose graphs",
action="store_true")
parser.add_argument("--before_optimized",
help="visualize posegraph edges that is not optimized",
action="store_true")
args = parser.parse_args()
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
ply_file_names = get_file_list(
join(config["path_dataset"], config["folder_fragment"]), ".ply")
if (args.list_posegraphs):
list_posegraph_files(
join(config["path_dataset"], config["folder_fragment"]))
list_posegraph_files(
join(config["path_dataset"], config["folder_scene"]))
if (args.before_optimized):
global_pose_graph_name = join(config["path_dataset"],
config["template_global_posegraph"])
else:
global_pose_graph_name = join(
config["path_dataset"],
config["template_refined_posegraph_optimized"])
print("Reading posegraph")
print(global_pose_graph_name)
pose_graph = o3d.io.read_pose_graph(global_pose_graph_name)
n_nodes = len(pose_graph.nodes)
n_edges = len(pose_graph.edges)
print("Global o3d.pipelines.registration.PoseGraph having %d nodes and %d edges" % \
(n_nodes, n_edges))
# visualize alignment of posegraph edges
for edge in pose_graph.edges:
print("o3d.pipelines.registration.PoseGraphEdge %d-%d" % \
(edge.source_node_id, edge.target_node_id))
if ((args.adjacent and \
edge.target_node_id - edge.source_node_id == 1)) or \
(not args.adjacent and
(args.source_id == edge.source_node_id and \
args.target_id == edge.target_node_id)) or \
args.all:
print(" confidence : %.3f" % edge.confidence)
source = o3d.io.read_point_cloud(
ply_file_names[edge.source_node_id])
target = o3d.io.read_point_cloud(
ply_file_names[edge.target_node_id])
source_down = source.voxel_down_sample(config["voxel_size"])
target_down = target.voxel_down_sample(config["voxel_size"])
print("original registration")
draw_registration_result(source_down, target_down,
edge.transformation)
print("optimized registration")
source_down.transform(
pose_graph.nodes[edge.source_node_id].pose)
target_down.transform(
pose_graph.nodes[edge.target_node_id].pose)
draw_registration_result(source_down, target_down,
np.identity(4))
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