Fix tensor reconstruction example

CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Master
 
+* Fix tensor based TSDF integration example.
 * Use GLIBCXX_USE_CXX11_ABI=ON by default
 * Python 3.9 support. Tensorflow bump 2.4.1 -> 2.5.0. PyTorch bump 1.7.1 -> 1.8.1 (LTS)
 * Fix undefined names: docstr and VisibleDeprecationWarning (PR #3844)

docs/tutorial/t_reconstruction_system/integration.rst

@@ -12,8 +12,8 @@ In the activation step, we first locate blocks that contain points unprojected f
 
 .. literalinclude:: ../../../examples/python/t_reconstruction_system/integrate.py
    :language: python
-   :lineno-start: 82
-   :lines: 27,83-85
+   :lineno-start: 52
+   :lines: 52-54
 
 Integration
 ````````````
@@ -23,8 +23,8 @@ We may use optimized functions, along with raw depth images with calibration par
 
 .. literalinclude:: ../../../examples/python/t_reconstruction_system/integrate.py
    :language: python
-   :lineno-start: 86
-   :lines: 27,87-93
+   :lineno-start: 58
+   :lines: 58-60
 
 Currently, to use our optimized function, we assume the below combinations of data types, in the order of ``depth image``, ``color image``, ``tsdf in voxel grid``, ``weight in voxel grid``, ``color in voxel grid`` in CPU
 
@@ -48,8 +48,8 @@ You may use the provided APIs to extract surface points.
 
 .. literalinclude:: ../../../examples/python/t_reconstruction_system/integrate.py
    :language: python
-   :lineno-start: 135
-   :lines: 27,136-140
+   :lineno-start: 106
+   :lines: 106-110
 
 Note ``extract_triangle_mesh`` applies marching cubes and generate mesh. ``extract_point_cloud`` uses the similar algorithm, but skips the triangle face generation step.
 

examples/python/t_reconstruction_system/config.py

@@ -6,6 +6,8 @@
 # ----------------------------------------------------------------------------
 
 import os
+
+import argparse
 import configargparse
 
 
@@ -107,9 +109,8 @@ def __init__(self):
 
         integration_parser = self.add_argument_group('integration')
         integration_parser.add(
-            '--integration_mode',type=str,
-            choices=['color', 'depth'],
-            help='Volumetric integration mode.')
+            '--integrate_color', action=argparse.BooleanOptionalAction,
+            default=True, help='Volumetric integration mode.')
         integration_parser.add(
             '--voxel_size', type=float,
             help='Voxel size in meter for volumetric integration.')

examples/python/t_reconstruction_system/default_config.yml

@@ -8,7 +8,6 @@ depth_folder: depth
 color_folder: color
 path_intrinsic: ''
 path_color_intrinsic: ''
-fragment_size: 100
 depth_min: 0.1
 depth_max: 3.0
 depth_scale: 1000.0
@@ -21,7 +20,7 @@ icp_voxelsize: 0.05
 icp_distance_thr: 0.07
 global_registration_method: ransac
 registration_loop_weight: 0.1
-integration_mode: color
+integrate_color: true
 voxel_size: 0.0058
 trunc_voxel_multiplier: 8.0
 block_count: 40000

examples/python/t_reconstruction_system/integrate.py

@@ -10,25 +10,22 @@
 # P.S. This example is used in documentation, so, please ensure the changes are
 # synchronized.
 
-import os
-import numpy as np
+import time
+
 import open3d as o3d
 import open3d.core as o3c
-import time
-import matplotlib.pyplot as plt
 from tqdm import tqdm
-from config import ConfigParser
 
 from common import load_rgbd_file_names, load_depth_file_names, load_intrinsic, load_extrinsics, get_default_dataset
+from config import ConfigParser
 
 
 def integrate(depth_file_names, color_file_names, depth_intrinsic,
-              color_intrinsic, extrinsics, integrate_color, config):
-
+              color_intrinsic, extrinsics, config):
     n_files = len(depth_file_names)
     device = o3d.core.Device(config.device)
 
-    if integrate_color:
+    if config.integrate_color:
         vbg = o3d.t.geometry.VoxelBlockGrid(
             attr_names=('tsdf', 'weight', 'color'),
             attr_dtypes=(o3c.float32, o3c.float32, o3c.float32),
@@ -56,7 +53,7 @@ def integrate(depth_file_names, color_file_names, depth_intrinsic,
             depth, depth_intrinsic, extrinsic, config.depth_scale,
             config.depth_max)
 
-        if integrate_color:
+        if config.integrate_color:
             color = o3d.t.io.read_image(color_file_names[i]).to(device)
             vbg.integrate(frustum_block_coords, depth, color, depth_intrinsic,
                           color_intrinsic, extrinsic, config.depth_scale,
@@ -83,7 +80,6 @@ def integrate(depth_file_names, color_file_names, depth_intrinsic,
                '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',

examples/python/t_reconstruction_system/run_system.py

@@ -104,7 +104,6 @@
                             intrinsic,
                             intrinsic,
                             extrinsics,
-                            integrate_color=True,
                             config=config)
 
             pcd = vbg.extract_point_cloud()