# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # Copyright (c) 2018-2023 www.open3d.org # SPDX-License-Identifier: MIT # ---------------------------------------------------------------------------- import os import configargparse import open3d as o3d class ConfigParser(configargparse.ArgParser): def __init__(self): super().__init__(default_config_files=[ os.path.join(os.path.dirname(__file__), 'default_config.yml') ], conflict_handler='resolve') # yapf:disable # Default arguments self.add( '--name', type=str, help='Name of the config for the offline reconstruction system.') self.add( '--fragment_size', type=int, help='Number of RGBD frames to construct a fragment.') self.add( '--device', type=str, help='Device to run the system.') self.add( '--engine', type=str, choices=['tensor', 'legacy'], help='Open3D engine to reconstruct.') self.add( '--multiprocessing', action='store_true', help='Use multiprocessing in operations. Only available for the legacy engine.') input_parser = self.add_argument_group('input') input_parser.add( '--path_dataset', type=str, help='Path to the dataset folder. It should contain a folder with depth and a folder with color images.') input_parser.add( '--depth_folder', type=str, help='Path that stores depth images.') input_parser.add( '--color_folder', type=str, help='Path that stores color images.') input_parser.add( '--path_intrinsic', type=str, help='Path to the intrinsic.json config file.' 'If the intrinsic matrix for color image is different,' 'specify it by --path_color_intrinsic.' 'By default PrimeSense intrinsics is used.') input_parser.add( '--path_color_intrinsic', type=str, help='Path to the intrinsic.json config file.' 'If the intrinsic matrix for color image is different,' 'specify it by --path_color_intrinsic.' 'By default PrimeSense intrinsics is used.') input_parser.add( '--depth_min', type=float, help='Min clipping distance (in meter) for input depth data.') input_parser.add( '--depth_max', type=float, help='Max clipping distance (in meter) for input depth data.') input_parser.add( '--depth_scale', type=float, help='Scale factor to convert raw input depth data to meters.') input_parser.add('--fragment_size', type=int, help='Number of RGBD frames per fragment') odometry_parser = self.add_argument_group('odometry') odometry_parser.add( '--odometry_method', type=str, choices=['point2plane', 'intensity', 'hybrid', 'frame2model'], help='Method used in pose estimation between RGBD images.' 'Frame2model only available for the tensor engine.') odometry_parser.add( '--odometry_loop_interval', type=int, help='Intervals to check loop closures between RGBD images.') odometry_parser.add( '--odometry_loop_weight', type=float, help='Weight of loop closure edges when optimizing pose graphs for odometry.') odometry_parser.add( '--odometry_distance_thr', type=float, help='Default distance threshold to filter outliers in odometry correspondences.') registration_parser = self.add_argument_group('registration') registration_parser.add( '--icp_method', type=str, choices=['colored', 'point2point', 'point2plane', 'generalized'], help='Method used in registration between fragment point clouds with a good initial pose estimate.' 'Generalized ICP only available for the tensor engine.') registration_parser.add( '--icp_voxelsize', type=float, help='Voxel size used to down sample point cloud for fast/multiscale ICP.') registration_parser.add( '--icp_distance_thr', type=float, help='Default distance threshold to filter outliers in ICP correspondences.') registration_parser.add( '--global_registration_method', type=str, choices=['fgr', 'ransac'], help='Method used in global registration of two fragment point clouds without an initial pose estimate.') registration_parser.add( '--registration_loop_weight', type=float, help='Weight of loop closure edges when optimizing pose graphs for registration.') integration_parser = self.add_argument_group('integration') integration_parser.add( '--integrate_color', action='store_true', default=False, help='Volumetric integration mode.') integration_parser.add( '--voxel_size', type=float, help='Voxel size in meter for volumetric integration.') integration_parser.add( '--trunc_voxel_multiplier', type=float, help='Truncation distance multiplier in voxel size for signed distance. For instance, --trunc_voxel_multiplier=8 with --voxel_size=0.006(m) creates a truncation distance of 0.048(m).') integration_parser.add( '--est_point_count', type=int, help='Estimated point cloud size for surface extraction.') integration_parser.add( '--block_count', type=int, help='Pre-allocated voxel block count for volumetric integration.') integration_parser.add( '--surface_weight_thr', type=float, help='Weight threshold to filter outliers during volumetric surface reconstruction.') # yapf:enable def get_config(self): config = self.parse_args() # Resolve conflicts if config.engine == 'legacy': if config.device.lower().startswith('cuda'): print('Legacy engine only supports CPU.', 'Fallback to CPU.') config.device = 'CPU:0' if config.odometry_method == 'frame2model': print('Legacy engine does not supports frame2model tracking.', 'Fallback to hybrid odometry.') config.odometry_method = 'hybrid' elif config.engine == 'tensor': if config.icp_method == 'generalized': print('Tensor engine does not support generalized ICP.', 'Fallback to colored ICP.') config.icp_method = 'colored' if config.multiprocessing: print('Tensor engine does not support multiprocessing.', 'Disabled.') config.multiprocessing = False if (config.device.lower().startswith('cuda') and (not o3d.core.cuda.is_available())): print( 'Open3d not built with cuda support or no cuda device available. ', 'Fallback to CPU.') config.device = 'CPU:0' return config if __name__ == '__main__': # Priority: command line > custom config file > default config file 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.') config = parser.get_config() print(config)