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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_custom.py
# P.S. This example is used in documentation, so, please ensure the changes are
# synchronized.
import os
import time
import open3d as o3d
import open3d.core as o3c
from tqdm import tqdm
from common import get_default_dataset, load_rgbd_file_names, load_depth_file_names, load_intrinsic, load_extrinsics, extract_rgbd_frames
from config import ConfigParser
def integrate(depth_file_names, color_file_names, intrinsic, extrinsics,
config):
if os.path.exists(config.path_npz):
print(
f'Voxel block grid npz file {config.path_npz} found, trying to load...'
)
vbg = o3d.t.geometry.VoxelBlockGrid.load(config.path_npz)
print('Loading finished.')
return vbg
print(
f'Voxel block grid npz file {config.path_npz} not found, trying to integrate...'
)
n_files = len(depth_file_names)
device = o3d.core.Device(config.device)
voxel_size = 3.0 / 512
trunc = voxel_size * 4
res = 8
if config.integrate_color:
vbg = o3d.t.geometry.VoxelBlockGrid(
('tsdf', 'weight', 'color'),
(o3c.float32, o3c.float32, o3c.float32), ((1), (1), (3)), 3.0 / 512,
8, 100000, device)
else:
vbg = o3d.t.geometry.VoxelBlockGrid(
('tsdf', 'weight'), (o3c.float32, o3c.float32), ((1), (1)),
3.0 / 512, 8, 100000, 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]
start = time.time()
# Get active frustum block coordinates from input
frustum_block_coords = vbg.compute_unique_block_coordinates(
depth, intrinsic, extrinsic, config.depth_scale, config.depth_max)
# Activate them in the underlying hash map (may have been inserted)
vbg.hashmap().activate(frustum_block_coords)
# Find buf indices in the underlying engine
buf_indices, masks = vbg.hashmap().find(frustum_block_coords)
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
voxel_coords, voxel_indices = vbg.voxel_coordinates_and_flattened_indices(
buf_indices)
o3d.core.cuda.synchronize()
end = time.time()
# Now project them to the depth and find association
# (3, N) -> (2, N)
start = time.time()
extrinsic_dev = extrinsic.to(device, o3c.float32)
xyz = extrinsic_dev[:3, :3] @ voxel_coords.T() + extrinsic_dev[:3, 3:]
intrinsic_dev = intrinsic.to(device, o3c.float32)
uvd = intrinsic_dev @ xyz
d = uvd[2]
u = (uvd[0] / d).round().to(o3c.int64)
v = (uvd[1] / d).round().to(o3c.int64)
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
mask_proj = (d > 0) & (u >= 0) & (v >= 0) & (u < depth.columns) & (
v < depth.rows)
v_proj = v[mask_proj]
u_proj = u[mask_proj]
d_proj = d[mask_proj]
depth_readings = depth.as_tensor()[v_proj, u_proj, 0].to(
o3c.float32) / config.depth_scale
sdf = depth_readings - d_proj
mask_inlier = (depth_readings > 0) \
& (depth_readings < config.depth_max) \
& (sdf >= -trunc)
sdf[sdf >= trunc] = trunc
sdf = sdf / trunc
o3d.core.cuda.synchronize()
end = time.time()
start = time.time()
weight = vbg.attribute('weight').reshape((-1, 1))
tsdf = vbg.attribute('tsdf').reshape((-1, 1))
valid_voxel_indices = voxel_indices[mask_proj][mask_inlier]
w = weight[valid_voxel_indices]
wp = w + 1
tsdf[valid_voxel_indices] \
= (tsdf[valid_voxel_indices] * w +
sdf[mask_inlier].reshape(w.shape)) / (wp)
if config.integrate_color:
color = o3d.t.io.read_image(color_file_names[i]).to(device)
color_readings = color.as_tensor()[v_proj, u_proj].to(o3c.float32)
color = vbg.attribute('color').reshape((-1, 3))
color[valid_voxel_indices] \
= (color[valid_voxel_indices] * w +
color_readings[mask_inlier]) / (wp)
weight[valid_voxel_indices] = wp
o3d.core.cuda.synchronize()
end = time.time()
print(f'Saving to {config.path_npz}...')
vbg.save(config.path_npz)
print('Saving finished')
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('--integrate_color', action='store_true')
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)
# Extract RGB-D frames and intrinsic from bag file.
if config.path_dataset.endswith(".bag"):
assert os.path.isfile(
config.path_dataset), f"File {config.path_dataset} not found."
print("Extracting frames from RGBD video file")
config.path_dataset, config.path_intrinsic, config.depth_scale = extract_rgbd_frames(
config.path_dataset)
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
intrinsic = load_intrinsic(config)
extrinsics = load_extrinsics(config.path_trajectory, config)
vbg = integrate(depth_file_names, color_file_names, intrinsic, extrinsics,
config)
mesh = vbg.extract_triangle_mesh()
o3d.visualization.draw([mesh.to_legacy()])
pcd = vbg.extract_point_cloud()
o3d.visualization.draw([pcd])
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