import numpy as np
use_cuda = True
if use_cuda:
import cupy as cp
to_cpu = cp.asnumpy
cp.cuda.set_allocator(cp.cuda.MemoryPool().malloc)
else:
cp = np
to_cpu = lambda x: x
import open3d as o3
import transforms3d as trans
from probreg import cpd
from probreg import callbacks
import utils
import time
source, target = utils.prepare_source_and_target_rigid_3d('bunny.pcd',
voxel_size=0.003)
source = cp.asarray(source.points, dtype=cp.float32)
target = cp.asarray(target.points, dtype=cp.float32)
rcpd = cpd.RigidCPD(source, use_cuda=use_cuda)
start = time.time()
tf_param, _, _ = rcpd.registration(target)
elapsed = time.time() - start
print("time: ", elapsed)
print("result: ", np.rad2deg(t3d.euler.mat2euler(to_cpu(tf_param.rot))),
tf_param.scale, to_cpu(tf_param.t))
import numpy as np
import transforms3d as t3d
from probreg import filterreg
from probreg import callbacks
import utils
source, target = utils.prepare_source_and_target_rigid_3d('cloud_0.pcd',
n_random=0,
normals=True)
cbs = [callbacks.Open3dVisualizerCallback(source, target)]
objective_type = 'pt2pl'
tf_param, _, _ = filterreg.registration_filterreg(
source,
target,
target.normals,
objective_type=objective_type,
sigma2=0.01,
callbacks=cbs)
print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
tf_param.scale, tf_param.t)
import numpy as np
import transformations as trans
from probreg import filterreg
from probreg import features
from probreg import callbacks
import utils
source, target = utils.prepare_source_and_target_rigid_3d(
'bunny.pcd',
orientation=np.deg2rad([0.0, 0.0, 80.0]),
translation=np.array([0.5, 0.0, 0.0]),
n_random=0)
cbs = [callbacks.Open3dVisualizerCallback(source, target)]
objective_type = 'pt2pt'
tf_param, _, _ = filterreg.registration_filterreg(
source,
target,
objective_type=objective_type,
sigma2=1000,
feature_fn=features.FPFH(),
callbacks=cbs)
rot = trans.identity_matrix()
rot[:3, :3] = tf_param.rot
print("result: ", np.rad2deg(trans.euler_from_matrix(rot)), tf_param.scale,
tf_param.t)
import numpy as np
import transforms3d as t3d
from probreg import gmmtree
from probreg import callbacks
import utils
source, target = utils.prepare_source_and_target_rigid_3d('bunny.pcd',
n_random=0)
cbs = [callbacks.Open3dVisualizerCallback(source, target)]
tf_param, _ = gmmtree.registration_gmmtree(source, target, callbacks=cbs)
print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
tf_param.scale, tf_param.t)
from timeit import default_timer as timer
import numpy as np
import open3d as o3
import utils
from probreg import cpd
from probreg import l2dist_regs
from probreg import gmmtree
from probreg import filterreg
threshold = 0.001
max_iteration = 100
source, target = utils.prepare_source_and_target_rigid_3d(
'bunny.pcd', n_random=0, orientation=np.deg2rad([0.0, 0.0, 10.0]))
start = timer()
res = o3.pipelines.registration.registration_icp(
source, target, 0.5, np.identity(4),
o3.pipelines.registration.TransformationEstimationPointToPoint(),
o3.pipelines.registration.ICPConvergenceCriteria(
max_iteration=max_iteration))
end = timer()
print('ICP(Open3D): ', end - start)
start = timer()
res = cpd.registration_cpd(source,
target,
maxiter=max_iteration,
tol=threshold)
end = timer()
print('CPD: ', end - start)
