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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
# examples/python/t_reconstruction_system/integrate.py
# P.S. This example is used in documentation, so, please ensure the changes are
# synchronized.
import time
import open3d as o3d
import open3d.core as o3c
from tqdm import tqdm
from common import load_rgbd_file_names, load_depth_file_names, load_intrinsic, load_extrinsics, get_default_dataset
from config import ConfigParser
def integrate(depth_file_names, color_file_names, depth_intrinsic,
color_intrinsic, extrinsics, config):
n_files = len(depth_file_names)
device = o3d.core.Device(config.device)
if config.integrate_color:
vbg = o3d.t.geometry.VoxelBlockGrid(
attr_names=('tsdf', 'weight', 'color'),
attr_dtypes=(o3c.float32, o3c.float32, o3c.float32),
attr_channels=((1), (1), (3)),
voxel_size=3.0 / 512,
block_resolution=16,
block_count=50000,
device=device)
else:
vbg = o3d.t.geometry.VoxelBlockGrid(attr_names=('tsdf', 'weight'),
attr_dtypes=(o3c.float32,
o3c.float32),
attr_channels=((1), (1)),
voxel_size=3.0 / 512,
block_resolution=16,
block_count=50000,
device=device)
start = time.time()
for i in tqdm(range(n_files)):
depth = o3d.t.io.read_image(depth_file_names[i]).to(device)
extrinsic = extrinsics[i]
frustum_block_coords = vbg.compute_unique_block_coordinates(
depth, depth_intrinsic, extrinsic, config.depth_scale,
config.depth_max)
if config.integrate_color:
color = o3d.t.io.read_image(color_file_names[i]).to(device)
vbg.integrate(frustum_block_coords, depth, color, depth_intrinsic,
color_intrinsic, extrinsic, config.depth_scale,
config.depth_max)
else:
vbg.integrate(frustum_block_coords, depth, depth_intrinsic,
extrinsic, config.depth_scale, config.depth_max)
dt = time.time() - start
print('Finished integrating {} frames in {} seconds'.format(n_files, dt))
return vbg
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
parser.add('--default_dataset',
help='Default dataset is used when config file is not provided. '
'Default dataset may be selected from the following options: '
'[lounge, jack_jack]',
default='lounge')
parser.add('--path_trajectory',
help='path to the trajectory .log or .json file.')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='vbg.npz')
config = parser.get_config()
if config.path_dataset == '':
config = get_default_dataset(config)
if config.integrate_color:
depth_file_names, color_file_names = load_rgbd_file_names(config)
else:
depth_file_names = load_depth_file_names(config)
color_file_names = None
depth_intrinsic = load_intrinsic(config)
color_intrinsic = load_intrinsic(config, 'color')
extrinsics = load_extrinsics(config.path_trajectory, config)
vbg = integrate(depth_file_names, color_file_names, depth_intrinsic,
color_intrinsic, extrinsics, config)
pcd = vbg.extract_point_cloud()
o3d.visualization.draw([pcd])
mesh = vbg.extract_triangle_mesh()
o3d.visualization.draw([mesh.to_legacy()])
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