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nslf_ol_nosurface_multiGPU.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_multiGPU as color_map
import system.tracker_surface_nosurface
from utils import motion_util
from pyquaternion import Quaternion
import matplotlib.pyplot as plt
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_step(vis):
vis_param.n_left_steps = 1
return False
def key_continue(vis):
vis_param.n_left_steps += 20000
return False
def update_geometry(geom, name, vis):
if not isinstance(geom, list):
geom = [geom]
if name in vis_param.__dict__.keys():
for t in vis_param.__dict__[name]:
vis.remove_geometry(t, reset_bounding_box=False)
for t in geom:
vis.add_geometry(t, reset_bounding_box=False)
vis_param.__dict__[name] = geom
st = None
prev_rgbd = None
pose = None
def refresh(vis):
global st, prev_rgbd, pose, pc
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:
vis_param.mesh_updated = True
#update_geometry(map_mesh, "mesh_geometry", vis)
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')
if vis:
return False
else:
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
#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()
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])
#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)
if frame_pose is None:
print('INVALID FRAME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!1\n\n\n\n\n\n')
return True
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)
print('sleep start at', time.time())
#time.sleep(.1)
time.sleep(1.)
print('sleep end at', time.time())
'''
tracker_pc, tracker_normal = vis_param.tracker.last_processed_pc
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
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:
devices = [torch.device("cuda", index=device_id) for device_id in range(torch.cuda.device_count())]
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, devices,
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_nosurface.SDFTracker(vis_param.map, args.tracking)
vis_param.args = args
os.makedirs(args.outdir, exist_ok = True)
if False:#args.vis:
# Run the engine. Internal clock driven by Open3D visualizer.
engine = o3d.visualization.VisualizerWithKeyCallback()
engine.create_window(window_name="Implicit SLAM", width=1280, height=720, visible=True)
engine.register_key_callback(key=ord(","), callback_func=key_step)
engine.register_key_callback(key=ord("."), callback_func=key_continue)
engine.get_render_option().mesh_show_back_face = True
engine.register_animation_callback(callback_func=refresh)
vis_ph = vis_util.wireframe_bbox([-4., -4., -4.], [4., 4., 4.])
engine.add_geometry(vis_ph)
engine.remove_geometry(vis_ph, reset_bounding_box=False)
engine.run()
engine.destroy_window()
else:
key_continue(None)
try:
while True:
refresh(None)
except StopIteration:
'''
for id in vis_param.color_map.nslfs:
vis_param.color_map.nslfs[id].maintenance_thread.join()
'''
assert False, "stopped"