RGBD integration

Open3D implements a scalable RGBD image integration algorithm. The algorithm is based on the technique presented in [Curless1996] and [Newcombe2011]. In order to support large scenes, we use a hierarchical hashing structure introduced in Integrater in ElasticReconstruction.

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# examples/Python/Tutorial/Advanced/rgbd_integration.py

from open3d import *
from trajectory_io import *
import numpy as np

if __name__ == "__main__":
    camera_poses = read_trajectory("../../TestData/RGBD/odometry.log")
    volume = ScalableTSDFVolume(voxel_length = 4.0 / 512.0,
            sdf_trunc = 0.04, color_type = TSDFVolumeColorType.RGB8)

    for i in range(len(camera_poses)):
        print("Integrate {:d}-th image into the volume.".format(i))
        color = read_image("../../TestData/RGBD/color/{:05d}.jpg".format(i))
        depth = read_image("../../TestData/RGBD/depth/{:05d}.png".format(i))
        rgbd = create_rgbd_image_from_color_and_depth(color, depth,
                depth_trunc = 4.0, convert_rgb_to_intensity = False)
        volume.integrate(rgbd, PinholeCameraIntrinsic(
                PinholeCameraIntrinsicParameters.PrimeSenseDefault),
                np.linalg.inv(camera_poses[i].pose))

    print("Extract a triangle mesh from the volume and visualize it.")
    mesh = volume.extract_triangle_mesh()
    mesh.compute_vertex_normals()
    draw_geometries([mesh])

Read trajectory from .log file

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    camera_poses = read_trajectory("../../TestData/RGBD/odometry.log")

This tutorial uses function read_trajectory to read a camera trajectory from a .log file. A sample .log file is as follows.

# examples/TestData/RGBD/odometry.log
0   0   1
1   0   0   2
0   1   0   2
0   0   1 -0.3
0   0   0   1
1   1   2
0.999988  3.08668e-005  0.0049181  1.99962
-8.84184e-005  0.999932  0.0117022  1.97704
-0.0049174  -0.0117024  0.999919  -0.300486
0  0  0  1
:

TSDF volume integration

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    volume = ScalableTSDFVolume(voxel_length = 4.0 / 512.0,
            sdf_trunc = 0.04, color_type = TSDFVolumeColorType.RGB8)

    for i in range(len(camera_poses)):
        print("Integrate {:d}-th image into the volume.".format(i))
        color = read_image("../../TestData/RGBD/color/{:05d}.jpg".format(i))
        depth = read_image("../../TestData/RGBD/depth/{:05d}.png".format(i))
        rgbd = create_rgbd_image_from_color_and_depth(color, depth,
                depth_trunc = 4.0, convert_rgb_to_intensity = False)
        volume.integrate(rgbd, PinholeCameraIntrinsic(
                PinholeCameraIntrinsicParameters.PrimeSenseDefault),
                np.linalg.inv(camera_poses[i].pose))

Open3D provides two types of TSDF volumes: UniformTSDFVolume and ScalableTSDFVolume. The latter is recommended since it uses a hierarchical structure and thus supports larger scenes.

ScalableTSDFVolume has several parameters. voxel_length = 4.0 / 512.0 means a single voxel size for TSDF volume is \(\frac{4.0m}{512.0} = 7.8125mm\). Lowering this value makes a high-resolution TSDF volume, but the integration result can be susceptible to depth noise. sdf_trunc = 0.04 specifies truncation value for signed distance function (SDF). When color_type = TSDFVolumeColorType.RGB8, 8 bit RGB color is also integrated as part of the TSDF volume. Float type intensity can be integrated with color_type = TSDFVolumeColorType.Gray32 and convert_rgb_to_intensity = True. The color integration is inspired by PCL.

Extract a mesh

Mesh extraction uses the marching cubes algorithm [LorensenAndCline1987].

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    print("Extract a triangle mesh from the volume and visualize it.")
    mesh = volume.extract_triangle_mesh()
    mesh.compute_vertex_normals()
    draw_geometries([mesh])

Outputs:

../../_images/integrated.png

Note

TSDF volume works like weighted average filter in 3D space. If more frames are integrated, the volume produces smoother and nicer mesh. Please check Make fragments for more examples.