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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
# examples/python/reconstruction_system/run_system.py
import json
import argparse
import time
import datetime
import os, sys
from os.path import isfile
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 check_folder_structure
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
from initialize_config import initialize_config, dataset_loader
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Reconstruction system")
parser.add_argument("--config",
help="path to the config file",
default=None)
parser.add_argument("--default_dataset",
help="(optional) default dataset to be used, only if "
"config file is not provided. "
"Options: [lounge, bedroom, jack_jack]",
type=str,
default="lounge")
parser.add_argument("--make",
help="Step 1) make fragments from RGBD sequence.",
action="store_true")
parser.add_argument(
"--register",
help="Step 2) register all fragments to detect loop closure.",
action="store_true")
parser.add_argument("--refine",
help="Step 3) refine rough registrations",
action="store_true")
parser.add_argument(
"--integrate",
help="Step 4) integrate the whole RGBD sequence to make final mesh.",
action="store_true")
parser.add_argument(
"--slac",
help="Step 5) (optional) run slac optimization for fragments.",
action="store_true")
parser.add_argument(
"--slac_integrate",
help="Step 6) (optional) integrate fragments using slac to make final "
"pointcloud / mesh.",
action="store_true")
parser.add_argument("--debug_mode",
help="turn on debug mode.",
action="store_true")
parser.add_argument(
'--device',
help="(optional) select processing device for slac and slac_integrate. "
"[example: cpu:0, cuda:0].",
type=str,
default='cpu:0')
args = parser.parse_args()
if not args.make and \
not args.register and \
not args.refine and \
not args.integrate and \
not args.slac and \
not args.slac_integrate:
parser.print_help(sys.stderr)
sys.exit(1)
# load dataset and check folder structure
if args.config is not None:
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
check_folder_structure(config['path_dataset'])
else:
# load default dataset.
config = dataset_loader(args.default_dataset)
assert config is not None
if args.debug_mode:
config['debug_mode'] = True
else:
config['debug_mode'] = False
config['device'] = args.device
print("====================================")
print("Configuration")
print("====================================")
for key, val in config.items():
print("%40s : %s" % (key, str(val)))
times = [0, 0, 0, 0, 0, 0]
if args.make:
start_time = time.time()
import make_fragments
make_fragments.run(config)
times[0] = time.time() - start_time
if args.register:
start_time = time.time()
import register_fragments
register_fragments.run(config)
times[1] = time.time() - start_time
if args.refine:
start_time = time.time()
import refine_registration
refine_registration.run(config)
times[2] = time.time() - start_time
if args.integrate:
start_time = time.time()
import integrate_scene
integrate_scene.run(config)
times[3] = time.time() - start_time
if args.slac:
start_time = time.time()
import slac
slac.run(config)
times[4] = time.time() - start_time
if args.slac_integrate:
start_time = time.time()
import slac_integrate
slac_integrate.run(config)
times[5] = time.time() - start_time
print("====================================")
print("Elapsed time (in h:m:s)")
print("====================================")
print("- Making fragments %s" % datetime.timedelta(seconds=times[0]))
print("- Register fragments %s" % datetime.timedelta(seconds=times[1]))
print("- Refine registration %s" % datetime.timedelta(seconds=times[2]))
print("- Integrate frames %s" % datetime.timedelta(seconds=times[3]))
print("- SLAC %s" % datetime.timedelta(seconds=times[4]))
print("- SLAC Integrate %s" % datetime.timedelta(seconds=times[5]))
print("- Total %s" % datetime.timedelta(seconds=sum(times)))
sys.stdout.flush()
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