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nslf_ol_vr.py
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nslf_ol_vr.py
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import os
import sys
import importlib
import open3d as o3d
import argparse
import logging
import time
import torch
from utils import exp_util, vis_util
from network import utility
import numpy as np
from system import map_surface as surface_map
from system import map_color as color_map
import system.tracker_surface
from utils import motion_util
from pyquaternion import Quaternion
# vr
from scipy.spatial.transform import Rotation as R
import pygame
from utils.ray_cast import RayCaster
from threading import Thread
from copy import copy
import pdb
vis_param = argparse.Namespace()
vis_param.n_left_steps = 0
vis_param.args = None
vis_param.mesh_updated = True
vis_param.whole_pc = np.zeros((0,3))
def key_continue(vis):
vis_param.n_left_steps += 20000
return False
st = None
prev_rgbd = None
pose = None
map_mesh_copy = None
map_mesh_updated = False # a signal shared by refresh() and vr()
def refresh(vis):
global st, prev_rgbd, pose, pc, map_mesh_copy, map_mesh_updated
it_st = time.time()
if vis_param.sequence.frame_id % vis_param.args.integrate_interval == 0:
st = time.time()
if vis:
pass
# This spares slots for meshing thread to emit commands.
#time.sleep(0.02)
if not vis_param.mesh_updated and vis_param.args.run_async:
st = time.time()
map_mesh = vis_param.map.extract_mesh(vis_param.args.resolution, 0, extract_async=True)
if map_mesh is not None:
map_mesh_updated = True
map_mesh_copy = copy(map_mesh)
vis_param.mesh_updated = True
o3d.io.write_triangle_mesh(args.outdir+'/recons.ply', map_mesh)
print('save mesh', time.time()-st)
if vis_param.n_left_steps == 0:
return False
if vis_param.sequence.frame_id >= len(vis_param.sequence):
# finished, not save model
print('saving to', vis_param.args.outdir+'/nslfs.pt')
vis_param.color_map.save_nslfs(vis_param.args.outdir+'/nslfs.pt')
raise StopIteration
vis_param.n_left_steps -= 1
logging.info(f"Frame ID = {vis_param.sequence.frame_id}")
frame_data = next(vis_param.sequence)
if (vis_param.sequence.frame_id - 1) % vis_param.args.color_integrate_interval != 0:
return False
# Prune invalid depths
frame_data.depth[torch.logical_or(frame_data.depth < vis_param.args.depth_cut_min,
frame_data.depth > vis_param.args.depth_cut_max)] = np.nan
# Do tracking.
st = time.time()
if vis_param.sequence.gt_trajectory is not None:
frame_pose = vis_param.tracker.track_camera(frame_data.rgb, frame_data.depth, frame_data.calib, vis_param.sequence.gt_trajectory[vis_param.sequence.frame_id-1])
else:
frame_pose = vis_param.tracker.track_camera(frame_data.rgb, frame_data.depth, frame_data.calib, vis_param.sequence.first_iso if len(vis_param.tracker.all_pd_pose) == 0 else None)
print('track time:', time.time()-st, "now takes", time.time()-it_st)
calib = frame_data.calib
tracker_pc, tracker_normal = vis_param.tracker.last_processed_pc_color_use
_, tracker_color = vis_param.tracker.last_colored_pcd
info = (frame_pose, [calib.fx,calib.fy,calib.cx,calib.cy],tracker_color, frame_data.depth)
if (vis_param.sequence.frame_id - 1) % vis_param.args.color_integrate_interval == 0:
# integrate into color
opt_depth = frame_pose @ tracker_pc
opt_normal = None#opt_normal = frame_pose.rotation @ tracker_normal
vis_param.color_map.integrate_keyframe(opt_depth, opt_normal, async_optimize=vis_param.args.run_async,
do_optimize=False, info=info)
vis_param.whole_pc = np.concatenate([vis_param.whole_pc,opt_depth.cpu().numpy()],axis=0)
tracker_pc, tracker_normal = vis_param.tracker.last_processed_pc
# integrate into shape
if frame_pose is None: # bad frame in track
return True
if (vis_param.sequence.frame_id - 1) % vis_param.args.integrate_interval == 0:
st = time.time()
opt_depth = frame_pose @ tracker_pc
opt_normal = frame_pose.rotation @ tracker_normal
vis_param.map.integrate_keyframe(opt_depth, opt_normal, async_optimize=vis_param.args.run_async,
do_optimize=True)
print('integrate difusion', time.time()-st, "now takes", time.time()-it_st)
if (vis_param.sequence.frame_id - 1) % vis_param.args.meshing_interval == 0:
# extract mesh
torch.cuda.empty_cache()
map_mesh = vis_param.map.extract_mesh(vis_param.args.resolution, int(4e6), max_std=0.15,
extract_async=vis_param.args.run_async, interpolate=True)
print('extract mesh', time.time()-st)
vis_param.mesh_updated = map_mesh is not None
prev_frame = frame_data
print('################### This iter takes %f seconds'%(time.time()-it_st))
return True
# control
heading_bias = None#
heading = None
posi = None
facing_dire = np.array([[0,0,1.]]).T
delta_posi = .1
delta_dire_up = R.from_euler('y', 90, degrees=True).as_matrix()
delta_dire_forward = np.eye(3)
delta_dire_down = R.from_euler('y', -90, degrees=True).as_matrix()
delta_dire_back = -np.eye(3)
delta_degree = 2.
delta_dire_turnleft = R.from_euler('y', -delta_degree, degrees=True).as_matrix()
delta_dire_turnright = R.from_euler('y', delta_degree, degrees=True).as_matrix()
delta_dire_turnup = R.from_euler('x', delta_degree, degrees=True).as_matrix()
delta_dire_turndown = R.from_euler('x', -delta_degree, degrees=True).as_matrix()
delta_dire_turnrollleft = R.from_euler('z', -delta_degree, degrees=True).as_matrix()
delta_dire_turnrollright = R.from_euler('z', delta_degree, degrees=True).as_matrix()
delta_dire_collect = [delta_dire_up, delta_dire_forward, delta_dire_down, delta_dire_back, # for translation of view point
delta_dire_turnleft, delta_dire_turnright, delta_dire_turnup, delta_dire_turndown, delta_dire_turnrollleft, delta_dire_turnrollright] # for rotation of view point
key_collect = [pygame.K_o, pygame.K_UP, pygame.K_l, pygame.K_DOWN,
pygame.K_LEFT, pygame.K_RIGHT,pygame.K_w,pygame.K_s,pygame.K_a,pygame.K_d]
# engine
def vr():
global map_mesh_copy, map_mesh_updated
pygame.init()
clock = pygame.time.Clock()
# pose
first_iso = vis_param.sequence.first_iso#Isometry(q=Quaternion(array=first_tq[3:]), t=np.array(first_tq[:3]))
change_pose = first_iso.matrix
heading_bias = change_pose[:3,:3]#.dot(np.array([[1.,0,0]]).T)
heading = np.eye(3)
posi = change_pose[:3,(3,)]
# raycaster
H, W = 240, 320
calib_matrix = np.eye(3)
calib_matrix[0,0] = 320
calib_matrix[1,1] = 240
calib_matrix[0,2] = 160
calib_matrix[1,2] = 120
while map_mesh_copy is None:
time.sleep(1.)
#vis_param.ray_caster = RayCaster(copy(map_mesh), H, W, calib_matrix)
display = pygame.display.set_mode((W,H))
# based on pygame
snap_folder = vis_param.args.outdir+'/snap/'
os.makedirs(snap_folder,exist_ok=True)
print('now open the control..., q to quit')
running = True
frame_i = 0
pose_list = []
while running:
clock.tick(60)
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
if event.type == pygame.KEYDOWN:
print(pygame.key.name(event.key))
keys = pygame.key.get_pressed()
# use 2.1.2, dont 2.3 their key is wierd...
if np.sum(keys) == 0:
continue
st = time.time()
# 1. get controls
for key, delta_dire in zip(key_collect[:4], delta_dire_collect[:4]):
if keys[key]:
posi += delta_dire.dot(heading_bias.dot(heading).dot(facing_dire)) * delta_posi
for key, delta_dire in zip(key_collect[4:], delta_dire_collect[4:]):
if keys[key]:
heading = heading.dot(delta_dire)
pose = np.eye(4)
pose[:3,:3] = heading_bias.dot(heading)#R.align_vectors(heading.T, heading_init.T)[0].as_matrix()
pose[:3,(3,)] = posi
print('1. key:', time.time()-st)
# 2. predict
if map_mesh_updated:
vis_param.ray_caster = RayCaster(map_mesh_copy, H, W, calib_matrix)
map_mesh_updated = False
pts = vis_param.ray_caster.ray_cast(pose) # N,3
print('2. ray cast:', time.time()-st)
invalid_mask = np.isinf(pts)
pts[invalid_mask] = 0.
pts[np.isnan(pts)] = 0.
info = (pose, None, None, None)
color = vis_param.color_map.integrate_keyframe(torch.tensor(pts).cuda().float(), None,info=info, vr_along_train=True) # N,3
color[invalid_mask] = 0.
im = color.reshape((vis_param.ray_caster.H,vis_param.ray_caster.W,3)).cpu().detach().numpy()
print('3. color predict:', time.time()-st)
del color
torch.cuda.empty_cache()
# 3. display
image = im.transpose(1,0,2)*255
surf = pygame.surfarray.make_surface(image)
display.blit(surf, (0, 0))
pygame.display.update()
if __name__ == '__main__':
parser = exp_util.ArgumentParserX()
args = parser.parse_args()
logging.basicConfig(level=logging.INFO)
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)
# Load in network. (args.model is the network specification)
model, args_model = utility.load_model(args.training_hypers, args.using_epoch)
args.model = args_model
args.mapping = exp_util.dict_to_args(args.mapping)
args.color_mapping = exp_util.dict_to_args(args.color_mapping)
args.tracking = exp_util.dict_to_args(args.tracking)
# Load in sequence.
seq_package, seq_class = args.sequence_type.split(".")
sequence_module = importlib.import_module("dataset.production." + seq_package)
sequence_module = getattr(sequence_module, seq_class)
vis_param.sequence = sequence_module(**args.sequence_kwargs)
# Mapping
if torch.cuda.device_count() > 1:
main_device, aux_device = torch.device("cuda", index=0), torch.device("cuda", index=1)
elif torch.cuda.device_count() == 1:
main_device, aux_device = torch.device("cuda", index=0), None
else:
assert False, "You must have one GPU."
vis_param.color_map = color_map.DenseIndexedMap(None, args.color_mapping, 10, main_device,
args.run_async, aux_device)
vis_param.map = surface_map.DenseIndexedMap(model, args.mapping, args.model.code_length, main_device,
args.run_async, aux_device)
vis_param.tracker = system.tracker_surface.SDFTracker(vis_param.map, args.tracking)
vis_param.args = args
os.makedirs(args.outdir, exist_ok = True)
key_continue(None)
vr_thread = Thread(target=vr)
vr_thread.start()
try:
while True:
refresh(None)
except StopIteration:
pygame.quit()
vr_thread.join()
assert False, "stopped"
#os._exit(0)